Double-pendulum crane sliding mode control method based on load swing state observation

Abstract

The invention discloses a double-pendulum crane sliding mode control method based on load swing state observation. The method is characterized by comprising the following steps of: deducing a couplingrelationship between lifting hook swing and load swing according to a kinetic model of a double-pendulum type crane, and then utilizing limited model information and the coupling relationship betweenthe load swing and the lifting hook swing to design a linear extended state observer (LESO) to observe the load swing, thus achieving high precision observation on the load swing under the conditionthat the distance between a lifting hook and the gravity center of the load is unknown. The effect of replacing a load swing sensor is achieved, the measurement problem of the load swing is solved, and the load swing observation value is fed back to a sliding mode controller, a double-pendulum crane anti-swing positioning controller is obtained, and positioning anti-swing feedback control of the double-pendulum crane is achieved under the condition that load swing is not directly measured.

Description

technical field [0001] The invention relates to a sliding mode control method of a double pendulum type crane based on load swing state observation, and belongs to the field of engineering machinery automatic control. Background technique [0002] Underactuated cranes have strong transshipment capabilities and play a very important role in the logistics of buildings, ports, warehouses, workshops and other places. However, external disturbances, crane start and stop, speed changes, etc. will cause the load to swing, which not only reduces the transport efficiency of the crane, but also brings huge safety hazards. In order to solve this problem, scholars simplified the crane into a simple pendulum, and proposed many methods to restrain the load from swinging. However, if the volume of the load transported by the crane is large, or the mass of the hook is not negligible, the hook will swing around the trolley, and the load will swing around the hook, showing a complex double p...

AI Technical Summary

Problems solved by technology

Although the encoder can be installed between the hook and the load through a special design under experimental conditions, it makes the control device complicated and the cost increases

Moreover, in the actual lifting operation, it is difficult to install the sensor on the hook, so this method has been greatly restricted in the actual application

Images