The invention discloses an enhanced anti-swing control method for a double-swing-effect bridge crane system based on an event trigger mechanism, which comprises the following steps: dividing an under-actuated quantity and a drivable quantity of the system through partial feedback analysis, constructing a motion signal of a lower double swing by utilizing energy analysis, reconstructing a new trolley motion signal in combination with the signal, and carrying out anti-swing control on the new trolley motion signal. According to the method, the swing joint of the system is effectively coupled with the movement of the trolley, a nonlinear control method is reasonably designed through a new trolley movement signal, the system anti-swing positioning problem is effectively solved, ideal transient performance can be obtained, and the double-swing-effect crane system has good application efficiency. In addition, by introducing an event triggering communication mechanism, transmission data in the network is reduced, and the burden of the network bandwidth occupancy rate is relieved.
本发明公开了一种基于事件触发机制的双摆效应桥式吊车系统的增强消摆控制方法,其通过部分反馈分析划分出系统的欠驱动量与可驱动量,利用能量分析构造下方双摆的运动信号,结合该信号重构出新的台车运动信号,使系统的摆动关节与台车的运动有效耦合,通过新的台车运动信号合理的设计非线性控制方法,有效解决了系统消摆定位的问题,能获得较为理想的暂态性能,使得双摆效应吊车系统具有良好应用效率。此外,通过引入事件触发通信机制,减少了网络中的传输数据,减轻了网络带宽占有率的负担。
Enhanced anti-swing control method of double-swing-effect bridge crane based on event triggering
基于事件触发的双摆效应桥式吊车的增强消摆控制方法
2022-11-01
Patent
Electronic Resource
Chinese
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