The invention discloses a tower crane system anti-swing control method based on composite integral complementary sliding mode control, and belongs to the technical field of tower cranes, the method comprises the following steps: 1, defining a tower crane system error variable which is used for representing a difference between an actual operation state and an ideal state of a tower crane so as to realize a positioning anti-swing control target; 2, a composite integral complementary sliding mode controller is constructed, specifically, according to the tower crane system error variables defined in the step 1, under-actuated characteristics of the tower crane system are fully considered, the composite integral complementary sliding mode controller is constructed, and the controller inhibits load swing of the tower crane system and keeps stability and control precision of the system; and 3, the tower crane system is controlled to operate, specifically, the operation state of the tower crane system is controlled in real time through the composite integral complementary sliding mode controller constructed in the step 2, and the controller achieves stable and accurate carrying of the load of the tower crane according to the current load, position and speed state information of the tower crane and meanwhile effectively restrains swing of the load.
本发明公开了一种基于复合积分互补滑模控制的塔式吊车系统防摆控制方法,属于塔式吊车技术领域,步骤1,定义塔式吊车系统误差变量:用于表征塔式吊车实际运行状态与理想状态之间的差异,以实现定位防摆控制目标;步骤2,构建复合积分互补滑模控制器:根据步骤1中定义的塔式吊车系统误差变量,充分考虑塔吊系统的欠驱动特性,构建复合积分互补滑模控制器,该控制器抑制塔吊系统的负载摆动,保持系统的稳定性和控制精度;步骤3,控制塔式吊车系统运行:利用步骤2中构建的复合积分互补滑模控制器,对塔吊系统的运行状态进行实时控制,所述控制器根据塔吊当前的负载、位置、速度状态信息,实现对塔吊负载的平稳、精确搬运,同时有效抑制负载的摆动。
Tower crane system anti-swing control method based on composite integral complementary sliding mode control
基于复合积分互补滑模控制的塔式吊车系统防摆控制方法
24.01.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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