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Sliding mode control method for double-pendulum bridge crane nonlinear sliding mode surface

A technology of bridge crane and control method, which is applied to cranes, trolley cranes, adaptive control and other directions, can solve the problems such as the double pendulum effect control effect cannot meet the needs of use, and the damping ratio cannot achieve high-precision tracking control.

Active Publication Date: 2018-02-09
南京黎创智能装备有限公司
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Problems solved by technology

[0005] The problem to be solved by the present invention is: the control effect of the existing crane control method for the double pendulum effect of the double pendulum bridge crane cannot meet the use requirements, and the existing control method cannot realize high-precision tracking control for the setting of the damping ratio

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Embodiment Construction

[0031] The inventive method is aimed at the overhead crane with double pendulum effect, and its dynamic model is as follows figure 1 Shown, M,m 1 ,m 2 represent the mass of the trolley, hook and load, respectively. l 1 , l 2 Respectively represent the rope length from the center of mass of the hook to the trolley and the distance from the center of mass of the load to the center of mass of the hook. θ 1 ,θ 2 Respectively represent the angle of hook swing and load swing.

[0032] Only consider the x-direction of the double pendulum bridge crane, that is, the two-dimensional bridge crane, its nonlinear equation is:

[0033]

[0034]

[0035]

[0036] g, F and f are the acceleration due to gravity, the driving force of the car and the friction force, respectively. Assume that the friction force f can pass through is compensated, and b is the viscous friction coefficient.

[0037] Rearranging formulas (1)-(3) in the form of a matrix, the three equations can be...

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Abstract

The invention discloses a sliding mode control method for a double-pendulum bridge crane nonlinear sliding mode surface, so as to eliminate double-pendulum effects of load swing of the crane system and realize high-precision trolley tracking control and load swing suppression which are important for the crane system. According to the novel sliding mode control method with the nonlinear sliding mode surface disclosed in the invention, different from the traditional linear sliding mode surface, the nonlinear sliding mode surface can change the damping ratio of a closed loop system to a final high value from an initial low value, the low value can provide a quick response, the high value can eliminate overshoot, and the trolley can track a given trajectory more accurately. The Lyapunov technology verifies the stability of the whole system.

Description

Technical field [0001] The invention belongs to the technical field of crane control and is a sliding mode control method for a nonlinear sliding mode surface of a double-swing bridge crane. Background technique [0002] Over the past few decades, bridge crane systems have been used to transport loads in many situations, such as factories, mines, ports, construction sites, etc. The advantage of using a crane is that it not only greatly reduces the labor intensity of workers, but also improves work efficiency. However, accelerating or decelerating movement of a trolley often produces load vibrations during the transfer process and in the desired position. Because this vibration is under-damped, for example, once load vibration occurs, the response cannot stop quickly in a short period of time. At the same time, it will also reduce work efficiency and lead to accidents and personal injuries. Therefore, it is crucial to propose a controller to accurately move the load to any...

Claims

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Application Information

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IPC IPC(8): G05B13/04B66C19/00B66C13/18
CPCG05B13/042B66C13/18B66C19/00
Inventor 欧阳慧珉禹春敏张广明胡金鑫王德明梅磊邓歆
Owner 南京黎创智能装备有限公司
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