The invention discloses a nonlinear output feedback control method and system for amplitude saturation of a tower crane, and the method comprises the steps: building a dynamic model of the tower crane based on a Lagrange method and an actual working state of the tower crane; a data difference between an expected position of the tower crane dynamic model and actual feedback data is used as an error signal, and a variable rope length PD controller is designed according to the error signal; combining the designed variable rope length PD controller with a pseudo speed signal constructed based on drivable information of the system to obtain a speed-measurement-free variable rope length PD controller; and the speed-measurement-free variable rope length PD controller forms a speed-measurement-free five-degree-of-freedom tower crane amplitude saturation nonlinear output feedback controller based on a saturation function bounded principle so as to control the tower crane. According to the method, the pseudo speed signal is constructed only through the drivable information of the system, the system speed information in the actual working condition can be effectively obtained, the amplitude of the output torque of the controller is limited, and the efficiency and the performance of the controller are improved.

    本发明公开了一种塔式起重机振幅饱和非线性输出反馈控制方法及系统,包括:基于拉格朗日方法及实际塔式起重机工作状态,构建塔式起重机动态模型;根据塔式起重机动态模型的期望位置与实际反馈数据的数据差作为误差信号,并根据误差信号设计变绳长PD控制器;将设计的变绳长PD控制器与基于系统可驱动信息构造的伪速度信号合并得到无速度测量变绳长PD控制器;无速度测量变绳长PD控制器基于饱和函数有界原则,构成无速度测量的五自由度塔式起重机振幅饱和非线性输出反馈控制器,对塔式起重机进行控制。本发明仅通过系统可驱动信息构造伪速度信号,能够有效获取实际工况中的系统速度信息,并对控制器的输出力矩进行限幅,提高了控制器的效率以及性能。


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    Titel :

    Amplitude saturation nonlinear output feedback control method and system for tower crane


    Weitere Titelangaben:

    一种塔式起重机振幅饱和非线性输出反馈控制方法及系统


    Beteiligte:
    OUYANG HUIMIN (Autor:in) / XIA JIYU (Autor:in)

    Erscheinungsdatum :

    11.08.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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