The invention provides a system passivity based underactuation bridge crane anti-interference anti-swing method and belongs to the technical field of bridge crane anti-swing. The system passivity based underactuation bridge crane anti-interference anti-swing method comprises the following steps of S1, establishing a dynamical model of a bridge crane system; S2, establishing a friction force modeland a wind resistance model based on the dynamical model; and S3, constructing a controller based on the lyapunov function and used for overcoming system friction force and resistance according to thefriction force model and the wind resistance model. Through the system passivity based underactuation bridge crane anti-interference anti-swing method, the friction force and resistance in the systemcan be overcome, quick positioning of the crane system is realized, and swing of the system is effectively inhibited; moreover, the system is high in anti-interference capability and has high robustness. As anti-swing positioning of a trolley is realized well, the transient state control performance of the system is effectively improved.
本发明提供一种基于系统无源性的欠驱动桥式吊车抗干扰防摆方法,属于桥式吊车防摆技术领域。该基于系统无源性的欠驱动桥式吊车抗干扰防摆方法包括如下步骤:S1:建立桥式吊车系统的动力学模型;S2:建立基于动力学模型的摩擦力模型和风阻模型;S3:根据摩擦力模型和风阻模型构建基于李雅普诺夫函数、用以克服系统摩擦力和阻力的控制器。本发明可以克服系统中的摩擦力及阻力,实现吊车系统的快速定位,并有效地抑制它的摆动,并且系统抗干扰能力强,具有较强得鲁棒性,在较好的实现台车的消摆定位的同时,有效的提升系统的暂态控制性能。
System passivity based underactuation bridge crane anti-interference anti-swing method
一种基于系统无源性的欠驱动桥式吊车抗干扰防摆方法
2020-04-10
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Anti-swing control method for bridge crane, bridge crane device and bridge crane
European Patent Office | 2022
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