The invention relates to the technical field of under-actuated bridge crane control, and discloses a finite time tracking control method of an under-actuated bridge crane, which comprises the following steps of: additionally arranging an incremental encoder at the tail part of a motor of the bridge crane, and measuring the displacement of a trolley by the incremental encoder; then, a finite time tracking controller of the bridge crane calculates the displacement of the trolley needing to be controlled and the signal size of load swing, and then the trolley is controlled to move to a target position through a motor of the bridge crane, so that the load swing is indirectly controlled. The building method of the finite time tracking controller comprises the steps that an acceleration movement track of the bridge crane system is provided, then finite time tracking control is conducted on the bridge crane system through sliding mode control, the bridge crane can keep good control performance even if working under adverse conditions, and the control target is achieved.
本发明涉及欠驱动桥式起重机控制技术领域,公开了欠驱动桥式起重机的有限时间跟踪控制方法为在桥式起重机电机尾部加装增量式编码器,由增量式编码器测出台车的位移的大小,然后由桥式起重机的有限时间跟踪控制器计算出所需控制的台车位移以及负载摆动的信号大小,进而通过桥式起重机电机控制台车移动到目标位置,从而间接控制负载摆动。有限时间跟踪控制器的建立方法包括提出了桥式起重机系统的加速度运动轨迹,然后利用滑模控制对桥式起重机系统进行有限时间跟踪控制,使桥式起重机即使在不利条件下工作也能够保持良好的控制性能,实现控制目标。
Finite time tracking control method of under-actuated bridge crane
欠驱动桥式起重机的有限时间跟踪控制方法
2023-10-31
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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