Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Global sliding-mode control method for bridge crane system

A technology of bridge crane and control method, which is applied in the direction of load hanging components, transportation and packaging, etc., and can solve the problems of not being robust in the whole process

Active Publication Date: 2019-09-06
ZHEJIANG SCI-TECH UNIV
View PDF6 Cites 24 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Generally speaking, the system state of sliding mode control is divided into approaching mode and sliding mode. When the system state is in sliding mode, the system has good robustness to uncertain parameters and external disturbances [11], but This characteristic does not exist in the approach mode, that is, it does not have full-range robustness

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Global sliding-mode control method for bridge crane system
  • Global sliding-mode control method for bridge crane system
  • Global sliding-mode control method for bridge crane system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0117] Embodiment 1, the global sliding mode control method of overhead crane system, comprises the following steps:

[0118] Step 1, determine the kinetic model;

[0119] The present invention contemplates an overhead crane system comprising a trolley capable of one-dimensional translational movement along the bridge frame and a load attached to the trolley by a fixed length of rope. Based on the Euler-Lagrangian equation, the dynamic equation of the overhead crane system is as follows:

[0120]

[0121]

[0122] Among them, M and m are the masses of the trolley and the load respectively, the length of the fixed sling is l, g represents the acceleration of gravity; x represents the horizontal displacement of the trolley from the initial position, represents the speed of the trolley, Indicates the acceleration of the trolley; θ indicates the load swing angle, Indicates the angular velocity of the load swing angle, Indicates the angular acceleration of the load sw...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a global sliding-mode control method for a bridge crane system. The method comprises the following steps: determining a kinetic model; determining a control target; designing adamping signal and transforming a kinetic equation; designing a control rule; and implementing the control method. According to the control method, the bridge crane system has good robustness in the whole operating process while positioning control and anti-sway control of a trolley of the bridge crane system are implemented, so that the control efficiency of the bridge crane is improved, and theprobability of safety problems of the bridge crane system in actual operation caused by external disturbance and uncertain parameters. The global sliding-mode control method has good application prospect and economical benefit.

Description

technical field [0001] The invention belongs to the control technology of an underactuated system, and mainly relates to a global sliding mode control method of an overhead crane system. Background technique [0002] As an important means of transportation, the bridge crane system is widely used in various industrial occasions. The main purpose of its control is to use the trolley to send the load to the target position as quickly and accurately as possible, that is, the positioning control of the trolley, and Effectively control the load swing angle during transportation, so that the load swing angle is zero when the trolley reaches the target position, that is, swing-elimination control. However, due to the underactuated characteristics of the bridge crane system, the control input directly acts on the trolley to control the displacement of the trolley, while the load swing angle is indirectly controlled by the movement of the trolley, which increases the difficulty of con...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/22
CPCB66C13/22
Inventor 武宪青徐可心马淼柯飂挺
Owner ZHEJIANG SCI-TECH UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com