The invention discloses a double-pendulum-effect bridge crane preset time transportation control method based on a backstepping method, which comprises the following steps: firstly, establishing a dynamic mathematical model of a double-pendulum-effect bridge crane system, introducing a finite time convergence function, and constructing a preset time transportation controller of the double-pendulum-effect bridge crane system in combination with the backstepping method to control crane transportation; the problem of convergence at any time of a double-pendulum effect bridge crane system is effectively solved, so that the stabilization time of the control system can be given in advance, and the practicability of the crane is enhanced.
本发明公开了一种基于反步法的双摆效应桥式吊车预设时间运输控制方法,首先建立双摆效应桥式吊车系统的动态数学模型,引入有限时间收敛函数,结合反步法构构双摆效应桥式吊车系统的预设时间运输控制器对吊车运输进行控制,有效解决双摆效应桥式吊车系统的任意时间收敛的问题,使得控制系统的稳定时间能够提前给定,增强吊车的实用性。
Double-pendulum effect bridge crane preset time transportation control method based on backstepping method
基于反步法的双摆效应桥式吊车预设时间运输控制方法
2022-11-01
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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