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Bridge crane control method based on finite time composition

A limited-time, bridge crane technology, applied in the field of crane control, can solve problems such as poor anti-swing control effect, and achieve the effects of improving anti-interference ability and anti-swing ability, improving convergence speed and short control time.

Active Publication Date: 2022-04-05
NANJING UNIV OF TECH
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Problems solved by technology

[0007] Aiming at the problem of poor anti-swing control effect in the prior art, the present invention provides a control method for bridge cranes based on finite-time compounding, through the combination of finite-time sliding mode observer and finite-time controller, it suppresses the Uncertainty, modeling error and other disturbances improve the anti-sway performance and anti-interference ability of the overhead crane

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  • Bridge crane control method based on finite time composition
  • Bridge crane control method based on finite time composition
  • Bridge crane control method based on finite time composition

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Embodiment Construction

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, rather than all the embodiments; moreover, each embodiment is not relatively independent, and can be combined with each other according to needs, so as to achieve better effects. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts be...

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Abstract

The invention discloses a bridge crane control method based on finite time composition, and belongs to the technical field of crane control. The method comprises the following steps: firstly, establishing a dynamic model of the bridge crane, and then designing a finite time controller and a finite time sliding mode observer according to the dynamic model of the bridge crane; and then a composite controller is constructed according to the finite time controller and the finite time sliding mode observer, and the bridge crane is controlled according to the composite controller. The problem that in the prior art, the anti-swing control effect is poor is solved, the bridge crane control method based on finite time composition is provided, interference caused by parameter uncertainty, modeling errors and the like is restrained through combination of the finite time sliding mode observer and the finite time controller, and the anti-swing control effect of the bridge crane is improved. And the anti-swing performance and the anti-interference capability of the bridge crane are improved.

Description

technical field [0001] The invention belongs to the technical field of crane control, and more specifically relates to a method for controlling bridge cranes based on finite time compounding. Background technique [0002] Bridge cranes are widely used in industrial production, port transportation, etc. With the development of modern industry, the requirements for the control accuracy of bridge cranes are getting higher and higher. The overhead crane is a typical nonlinear underactuated system. The biggest problem it faces is how to move the trolley to the target position quickly and accurately and how to overcome the load swing caused by external disturbances such as wind. These two problems will not only reduce the working efficiency of the crane, but also affect the precise placement of the load, which may cause collisions and cause safety accidents. Therefore, preventing the load from swinging when the crane is working is an important indicator for improving the control ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04B66C13/06B66C13/18
CPCY02P90/02
Inventor 孙振兴严月雯张兴华
Owner NANJING UNIV OF TECH
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