Fuzzy control method for lifting bridge crane system with persistent disturbances

A technology of fuzzy control and lifting bridge, applied in the field of control, can solve problems such as load disturbance without consideration

Active Publication Date: 2016-02-17
SHANDONG UNIV
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  • Abstract
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Problems solved by technology

However, the robustness of such methods cannot be proved theoretically
And all the above control methods for variable rope long bridge cranes do not consider the load disturbance

Method used

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  • Fuzzy control method for lifting bridge crane system with persistent disturbances
  • Fuzzy control method for lifting bridge crane system with persistent disturbances
  • Fuzzy control method for lifting bridge crane system with persistent disturbances

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Embodiment Construction

[0087] The present invention is described in detail below in conjunction with accompanying drawing:

[0088] 1. Modeling of a liftable bridge crane system with continuous disturbance

[0089] Most of the existing mathematical models of the bridge crane system are proposed based on the earth coordinate system as the reference coordinate system, but it is difficult to prove the stability of the system when there is a continuous external disturbance. Based on this, a mathematical model of a liftable bridge crane system with continuous disturbance is established in this paper. Depend on figure 1 It can be seen that when the load is affected by the external continuous disturbance force d, the load will not be vertically stable in the end, but will form θ with the vertical direction 0 angle. To facilitate the design of the controller, the x'-y' coordinate system is chosen as the reference coordinate system. figure 1 Among them, M and m represent the trolley mass and load mass re...

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Abstract

The invention discloses a fuzzy control method for a lifting bridge crane system with persistent disturbances. The fuzzy control method comprises the following steps that Step one, when a load is subjected to an external persistent disturbance force, a mathematical model of the lifting bridge crane system with the persistent disturbances is established by introducing coordinate transformation; Step two, based on the mathematical model of the lifting bridge crane system in the step one, a fuzzy disturbance observer is established, and accurate evaluation on the external disturbances is realized; and Step three, an energy-based fuzzy controller is established by introducing a generalized signal gathering trolley motion and load swing. According to the fuzzy control method, the external disturbances are completely compensated, and the fuzzy control method has very important theoretical significance in analyzing the robustness of a rope length variable crane system.

Description

technical field [0001] The invention relates to the field of control, and specifically designs a fuzzy control method for a liftable bridge crane system with continuous disturbance. Background technique [0002] In the past few decades, research and development of automatic control methods for underactuated crane systems have received extensive attention. The main purpose of crane control is to drive the displacement of the trolley to reach the target position quickly and accurately, while effectively suppressing the load swing during the entire transportation process. As a typical underactuated system, overhead cranes have been widely used in seaports, docks, construction sites and other important occasions to complete tasks such as cargo / material delivery and integrated processing. Generally speaking, a complete crane operation process mainly includes the following three steps: 1) load lifting process; 2) load horizontal transport process; 3) load drop process. Since the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/18
CPCB66C13/18B66C2700/00
Inventor 马昕张梦华田新诚荣学文宋锐李贻斌
Owner SHANDONG UNIV
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