The invention discloses a swing suppression control method for a double-pendulum tower crane with a distributed mass load. The method comprises the following steps of establishing a mathematical model of the double-pendulum tower crane with the distributed mass load based on a Lagrange kinetic equation and analyzing characteristics; establishing an energy function of the mathematical model of the double-pendulum tower crane according to the characteristics, and establishing an adaptive controller based on the energy function of the mathematical model of the double-pendulum tower crane to suppress external interference; and establishing a fuzzy controller based on a fuzzy control rule, adding the fuzzy controller into the adaptive controller, and regulating and controlling the swing suppression of the double-pendulum tower crane in real time through the fuzzy controller. According to the method, the coupling between the driving mechanism and the non-driving mechanism of the double-pendulum tower crane can be partially enhanced, the fuzzy controller module is provided to improve the real-time operation capability, the external disturbance is effectively inhibited by designing the adaptive controller, and the two are combined to realize efficient trajectory tracking and swing suppression so as to achieve a control effect.
本发明公开了一种分布质量负载的双摆塔式起重机摆动抑制控制方法,包括,基于拉格朗日动力学方程建立具有分布质量负载的双摆塔式起重机数学模型并分析特性;根据特性建立双摆塔式起重机数学模型的能量函数,并基于双摆塔式起重机数学模型的能量函数建立自适应控制器,以抑制外部干扰;基于模糊控制规则建立模糊控制器,并将其加入到自适应控制器,通过模糊控制器对双摆塔式起重机摆动抑制进行实时调控;本发明能够部分化地增强双摆塔式起重机的驱动机构与不可驱动机构之间的耦合性,并提出模糊控制器模块提高实时作业能力,同时通过设计自适应控制器有效抑制外部扰动,通过将两者相结合实现高效的轨迹跟踪与摆动抑制从而达到控制效果。
Swing suppression control method for double-pendulum tower crane with distributed mass load
一种分布质量负载的双摆塔式起重机摆动抑制控制方法
2021-09-07
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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