The invention provides a control method for an anti-swing system of a tower crane. The control method comprises the following steps: establishing a dynamic model of a double-swing tower crane on the basis of a Lagrange equation, wherein the double-swing tower crane is in a composite working condition of variable amplitude coupling lifting motion; analyzing swing characteristics of a load in the kinetic model; establishing an energy function of the kinetic model based on the swing characteristics; defining an error signal, and optimizing the energy function based on the error signal to form an energy storage function; establishing a Lyapunov function based on the energy storage function; time-varying unknown parameters are replaced with nonlinear unknown parameters to optimize the Lyapunov function, an improved self-adaptive control rule is obtained based on the optimized Lyapunov function and a vector rule, and the improved self-adaptive control rule is added into a self-adaptive controller to control the double-pendulum tower crane. The self-adaptability of the control system is improved when the target position changes, and it is guaranteed that the system can still achieve target control even if the system is far away from the balance point.

    本发明提供了一种用于塔式起重机防摆系统的控制方法包括:基于拉格朗日方程建立双摆塔式起重机的动力学模型,双摆塔式起重机处于变幅耦合起升运动的复合工况下;分析动力学模型内负载的摆动特性;基于摆动特性建立动力学模型的能量函数;定义误差信号,基于误差信号对能量函数进行优化以形成储能函数;基于储能函数建立李雅普诺夫函数;将时变未知参数替换为非线性未知参数以优化李雅普诺夫函数,基于优化后的李雅普诺夫函数和矢量规律获得改进的自适应控制规律,将所述改进的自适应控制规律加入自适应控制器以对所述双摆塔式起重机进行控制。本发明提高了目标位置变化时控制系统的自适应性,保证了系统即使在远离平衡点时依然能实现控制目标。


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    Title :

    Control method for anti-swing system of tower crane


    Additional title:

    用于塔式起重机防摆系统的控制方法


    Contributors:
    ZHENG GUOSUI (author) / ZHANG JINHUA (author) / YAO CUI (author) / JIN WEIBO (author) / LUO DAN (author) / HE YUMIN (author)

    Publication date :

    2023-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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