The invention belongs to the technical field of tower crane positioning and anti-swing control, and discloses a tower crane positioning and anti-swing model-free self-adaptive control method, and the specific technical scheme is as follows: 1, establishing a virtual dynamic linearization data model of a tower crane system by using input and output data of a tower crane through a driving modeling method; 2, designing a model-free adaptive control law and a pseudo gradient estimation algorithm on the virtual dynamic linearization data model according to an optimization theory under constraint conditions, and estimating pseudo gradient parameters by using an estimation algorithm of system input and output data; 3, in order to further improve the dynamic performance of the system, a tracking differentiator is added behind the input signal; and 4, the stability of a closed-loop system and the convergence of system errors are proved through Lipschitz conditions and inequality theory analysis, the model-free adaptive controller has good anti-interference performance, and the method disclosed by the invention is obviously superior to a PID control method and has important engineering practical application value.
本发明属于塔式吊车定位防摆控制技术领域,公开了塔式吊车定位防摆无模型自适应控制方法,具体技术方案为:一、利用塔式吊车的输入输出数据,通过驱动建模方法,建立塔式吊车系统的虚拟动态线性化数据模型;二、在虚拟动态线性化数据模型上,根据约束条件下的优化理论,设计无模型自适应控制律及伪梯度估计算法,利用系统输入输出数据的估计算法来估计伪梯度参数;三、为了进一步提高系统动态性能,在输入信号后加入了跟踪微分器;四、通过Lipschitz条件和不等式理论分析证明闭环系统的稳定性及系统误差的收敛性,无模型自适应控制器具有良好的抗干扰性能,本发明所公开的方法明显优于PID控制方法,且具有重要的工程实际应用价值。
Tower crane positioning anti-swing model-free self-adaptive control method
塔式吊车定位防摆无模型自适应控制方法
2024-04-19
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
Bridge crane positioning anti-swing model-free self-adaptive control method
Europäisches Patentamt | 2023
|Variable amplitude anti-swing control method for tower crane
Europäisches Patentamt | 2022
|