The invention relates to a double-ring anti-swing control method for a bridge crane. The method comprises the following steps: inputting an error between an expected output c and an actual output y of a bridge crane system into a predictive controller; the prediction controller outputs an optimal control law obtained by solving in combination with a preset performance function and a constraint condition; the performance function and the constraint condition are description forms about the control law, so that the optimal control law can be solved through a standard quadratic programming algorithm; and inputting the optimal control law into an input shaper, and finally applying an operation result to a crane system. According to the method, a double-loop anti-swing control strategy combining open-loop control and closed-loop control is formed, the advantages of the two means are fully utilized, swing of the load of the bridge crane can be effectively restrained, meanwhile, prediction control law solving is standard, engineering application is facilitated, system constraint conditions are met, and the system control performance is improved. The method aims at engineering practical problems, the achievement can provide reference for efficient and safe operation of the crane, and the method has important application value.
本发明涉及一种桥式起重机双环防摇控制方法,包括:将桥式起重机系统的期望输出c和实际输出y误差输入至预测控制器;预测控制器结合预设的性能函数和约束条件,输出求解得到的最优控制律;性能函数和约束条件均为关于控制律的描述形式,使得可通过标准二次规划算法对最优控制律进行求解;将最优控制律输入至输入整形器,最后将运算结果实施给起重机系统。本发明形成了开、闭环控制相结合的双环防摇控制策略,充分利用了两种手段的优点,能有效抑制桥式起重机载荷的摆动,同时预测控制律求解规范、便于工程应用,满足系统约束条件、使得系统控制性能得以提升。本发明面向工程实际问题,成果将为起重机高效安全作业提供参考,具有重要的应用价值。
Double-ring anti-swing control method for bridge crane
一种桥式起重机双环防摇控制方法
2023-04-11
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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