The invention discloses an anti-swing positioning control method for a three-dimensional double-swing under-actuated crane under a cargo lifting working condition, which is characterized in that on the basis of establishing a dynamic model of the three-dimensional double-swing under-actuated crane under the cargo lifting working condition, crane displacement, a coupling part in a cargo lifting state, external disturbance and linearization error are used as total disturbance; decoupling of three-dimensional coupling motion of the crane system is achieved; the method comprises the following steps: constructing a flat output model of a three-dimensional double-pendulum crane system on the basis of designing a flat output variable of the crane system, splitting a differential flat output model into three sub-models, and designing different types of state observers for the sub-models to obtain an estimated value of each order differential flat variable state and total disturbance; by comparing the error between the state of the crane at each moment and the ideal track and compensating the total disturbance influencing the movement of the crane, the comprehensive control law of the three-dimensional movement of the crane is designed, so that the crane system can stably carry goods to a target position in a three-dimensional space in a basically swinging-free manner.

    本发明公布了货物升降工况下三维双摆欠驱动吊车消摆定位控制方法,其特征在于:该方法在建立货物升降工况下三维双摆欠驱动吊车动力学模型的基础上,将吊车位移、货物升降状态中的耦合部分、外部扰动及线性化误差作为总扰动,实现吊车系统三维耦合运动的解耦;在设计吊车系统平坦输出变量的基础上,构建三维双摆吊车系统的平坦输出模型,将微分平坦输出模型拆分为三个子模型,并针对子模型设计不同类型的状态观测器,得出各阶微分平坦变量状态及总扰动的估计值;通过比较吊车各时刻状态与理想轨迹的误差,并对影响吊车运动的总扰动进行补偿,设计吊车三维运动的综合控制律,使吊车系统能在三维空间中将货物平稳且基本无摆地搬运到目标位置。


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    Title :

    Anti-swing positioning control method for three-dimensional double-swing under-actuated crane under cargo lifting working condition


    Additional title:

    货物升降工况下三维双摆欠驱动吊车消摆定位控制方法


    Contributors:
    XIAO YOUGANG (author) / LI BINZHUO (author) / HU ZIXIN (author) / TENG ZIXIN (author)

    Publication date :

    2024-01-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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