The invention discloses a crane positioning anti-swing control optimization method based on model iterative compensation, and belongs to the technical field of crane positioning anti-swing control. The crane positioning anti-swing control method overcomes the defect that in the prior art, a positioning anti-swing controller of a traditional crane positioning anti-swing control method cannot be well applied to the actual operation environment of a crane. The main body structure of the method comprises the following steps: step 1, obtaining a driving force expression and parameters of a crane positioning anti-swing controller; 2, multiple sets of crane operation state data under the action of the positioning anti-swing controller are collected; 3, according to the mathematical form of the Lagrange dynamical model, establishing a residual model about unmodeled dynamics of the crane; 4, according to the state data, a BP neural network is used for fitting a residual model; 5, a new residual model is generated through multiple times of iteration fitting, new parameters are used till iteration is finished, and adaptive controller parameters are set according to the final model. The invention is mainly applied to the crane.
本发明公开了一种基于模型迭代补偿的起重机定位防摇控制优化方法,其属于起重机定位防摇控制技术领域。它解决了现有技术中传统起重机定位防摇控制方法存在的定位防摇控制器不能很好地应用于起重机实际运行环境的缺陷。其主体结构包括以下步骤:步骤1:获取起重机定位防摇控制器的驱动力表达式和参数;步骤2:采集多组在定位防摇控制器作用下的起重机运行状态数据;步骤3:根据拉格朗日动力学模型的数学形式,建立关于起重机未建模动态的残差模型;步骤4:根据状态数据,利用BP神经网络拟合残差模型;步骤5:多次迭代拟合生成新残差模型并使用新参数,直到迭代结束,根据最终的模型整定有自适应性的控制器参数。本发明主要用于起重机上。
Crane positioning anti-swing control optimization method based on model iterative compensation
一种基于模型迭代补偿的起重机定位防摇控制优化方法
2023-05-09
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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