The invention discloses a self-adaptive tracking control method for enhancing swing resistance of a double-pendulum three-dimensional bridge crane. The self-adaptive tracking control method comprises the following steps that a kinetic equation of a double-pendulum three-dimensional bridge crane model is constructed according to a kinetic basic theory and a motion equation; two generalized state quantities of trolley displacement information and load swing information are solved based on a coupling relationship between system state quantities and the kinetic equation, and a generalized error quantity is further obtained; and a non-linear self-adaptive tracking controller is constructed according to the generalized error quantity, a self-adaptive updating law is calculated in combination with uncertain parameters and unknown external interference, and self-adaptive tracking control is carried out. According to the self-adaptive tracking control method, the accurate positioning performance of a trolley can be achieved, meanwhile, more signals related to shimmy are added in control input, the transient control performance is improved, in addition, the uncertainty of the load mass, the length of a hanging rope and the length of a lifting rope and the interference of a non-zero initial swing angle are overcome through the self-adaptive law, and the reliability in actual application is further improved.
本发明公开了一种双摆三维桥式起重机增强抗摆的自适应跟踪控制方法,包括根据动力学基础理论和运动方程构建双摆三维桥式起重机模型的动力学方程;基于系统状态量之间的耦合关系和所述动力学方程,求取台车位移信息和载荷摆动信息的两个广义状态量,并进一步获得广义误差量;根据所述广义误差量构建非线性自适应跟踪控制器,并结合不确定参数和未知外部干扰计算自适应更新律,进行自适应跟踪控制。本发明能够实现台车准确定位性能,同时,在控制输入中加入了更多与摆振相关的信号,提高了暂态控制性能,另外,通过自适应律克服了载荷质量、悬绳及吊绳长度的不确定性,非零初始摆角的干扰,进一步提高了在实际应用中的可靠性。
Self-adaptive tracking control method for enhancing swing resistance of double-pendulum three-dimensional bridge crane
一种双摆三维桥式起重机增强抗摆的自适应跟踪控制方法
2021-09-03
Patent
Electronic Resource
Chinese
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