The invention discloses a bridge crane positioning anti-swing model-free self-adaptive control method, solves the technical problem that controller design depends on a system model, and belongs to the technical field of bridge crane positioning anti-swing control. The specific technical scheme is as follows: 1, input and output data of a bridge crane system are utilized, and a driving modeling method is adopted, so that the positioning anti-swing model-free self-adaptive control method is obtained; establishing a virtual dynamic linearization data model of the bridge crane system; 2, designing a model-free adaptive control law and a pseudo-Jacobian matrix estimation algorithm on the virtual dynamic linearization data model according to an optimization theory under constraint conditions, and estimating pseudo-Jacobian matrix parameters by using an estimation algorithm of system input and output data; and 3, the stability of a closed-loop system and the convergence of system errors are analyzed and proved through Lipschitz conditions and an inequality theory, and the model-free adaptive controller has good anti-interference performance. The method disclosed by the invention is obviously superior to a PID (Proportion Integration Differentiation) control method, and has an important practical engineering application value.
本发明公开了桥式吊车定位防摆无模型自适应控制方法,解决了控制器设计对系统模型依赖的技术问题,属于桥式吊车定位防摆控制技术领域,具体技术方案为:一、利用桥式吊车系统的输入输出数据,通过驱动建模方法,建立桥式吊车系统的虚拟动态线性化数据模型;二、在虚拟动态线性化数据模型上,根据约束条件下的优化理论,设计无模型自适应控制律及伪雅可比矩阵估计算法,利用系统输入输出数据的估计算法来估计伪雅可比矩阵参数;三、通过Lipschitz条件和不等式理论分析证明闭环系统的稳定性及系统误差的收敛性,无模型自适应控制器具有良好的抗干扰性能。本发明所公开的方法明显优于PID控制方法,且具有重要的工程实际应用价值。
Bridge crane positioning anti-swing model-free self-adaptive control method
桥式吊车定位防摆无模型自适应控制方法
2023-06-09
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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