The invention discloses a self-adaptive backstepping nonlinear swing suppression control method for a double-pendulum rotary crane. The method comprises the following steps: establishing a mathematical model of the double-pendulum rotary crane based on a Lagrange kinetic equation and analyzing characteristics; establishing an energy function of a mathematical model of the rotary crane according to the characteristics, establishing a Lyapunov function based on a backstepping method and a system control target, and establishing an adaptive controller based on the energy function and the Lyapunov function; and obtaining a self-adaptive control rate based on the Lyapunov function, and adding the self-adaptive control rate into the self-adaptive controller. The design of the self-adaptive control rate has good robustness for different system parameters of the rotary crane; a PD-like control method in the adaptive controller can realize accurate positioning, and external disturbance is inhibited through swing angle information feedback and design of error terms; and the two are combined to realize efficient trajectory tracking and swing suppression of different crane systems so as to achieve a control effect.

    本发明公开了一种双摆旋转式起重机的自适应反步非线性摆动抑制控制方法包括:基于拉格朗日动力学方程建立双摆旋转式起重机数学模型并分析特性;根据所述特性建立旋转式起重机数学模型的能量函数,基于反步法和系统控制目标,建立李亚普诺夫函数,并基于所述能量函数和李雅普诺夫函数建立自适应控制器;基于所述李雅普诺夫函数获得自适应控制率,将所述自适应控制率加入所述自适应控制器。本发明中自适应控制率的设计对不同的旋转式起重机的系统参数具有良好的鲁棒性;自适应控制器中类PD的控制方法可实现精准定位,通过摆角信息反馈和对误差项的设计抑制外部扰动;将两者相结合实现对不同起重机系统的高效轨迹跟踪与摆动抑制从而达到控制效果。


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    Title :

    Self-adaptive backstepping nonlinear swing suppression control method for double-swing rotary crane


    Additional title:

    一种双摆旋转式起重机的自适应反步非线性摆动抑制控制方法


    Contributors:
    ZHU HONGJIE (author) / XI HUAN (author) / OUYANG HUIMIN (author)

    Publication date :

    2022-08-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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