Positioning and swing eliminating method for under-actuated tower crane with load lifting motion

Abstract

The invention discloses a positioning and swing eliminating method for an under-actuated tower crane with load lifting motion. The positioning and swing eliminating method comprises the following steps: establishing a tower crane nonlinear model with load lifting motion according to a Lagrange kinetic equation; constructing a sliding mode surface containing self-adaptive gain based on the nonlinear model, and determining a sliding mode surface reaching law and a self-adaptive value updating law; confirming a crane friction force parameter self-adaptive updating law and a full-degree-of-freedom disturbance self-adaptive updating law by utilizing a self-adaptive technology; and combining the sliding mode surface reaching law, the self-adaptive value updating law, the friction force parameter self-adaptive updating law and the full-degree-of-freedom disturbance self-adaptive updating law, constructing a robust adaptive sliding mode controller, and completing positioning and swing elimination. The stable convergence speed of the tower crane system with the load lifting motion is improved, meanwhile, the robustness of the control system is enhanced by applying the self-adaptive technology, and finally rapid and efficient trajectory tracking and positioning and load swing suppression are achieved.

Description

technical field [0001] The invention relates to the technical field of motion control of an underactuated crane system, in particular to a method for positioning and eliminating swing of an underactuated tower crane with load lifting motion. Background technique [0002] An underactuated system is one in which the system inputs have fewer system degrees of freedom. Among them, the crane system, as a typical underactuated system, has many advantages such as simple structure, low power consumption, and wide application occasions. A tower crane is a kind of crane that transports goods in space. Its transportation process is often accompanied by the translation of the trolley and the rotation of the cantilever at the same time. These two drive mechanisms with different motion properties lead to dynamic models and design corresponding control methods. more complicated. At the same time, when accompanied by the lifting motion of the load, the length of the suspension rope will c...

AI Technical Summary

Problems solved by technology

A tower crane is a kind of crane that transports goods in space. Its transportation process is often accompanied by the translation of the trolley and the rotation of the cantilever at the same time. These two driving mechanisms with different motion properties lead to dynamic models and design corresponding control methods. more complicated

At the same time, when accompanied by the lifting motion of the load, the length of the suspension rope will change, which will have a great impact on the dynamic characteristics such as the natural frequency of the load swing of the tower crane

In addition, in actual control applications, it is inevitable that there will be friction effects, incomplete theoretical modeling, parameter uncertainty and external disturbances with full degrees of freedom. Accurate positioning of the lift while quickly suppressing the swing of the load has become a very challenging problem

Images