The invention provides a crane control method and device, electronic equipment and a readable storage medium. The method comprises the following steps: inputting an external reference variable into a reference model of the crane, and outputting the reference variable; inputting a control signal output by the controller into a real controlled model of the crane, and outputting a controlled variable; inputting the external reference variable and the controlled variable into a controller, wherein the controller outputs a control signal based on the external reference variable, the controlled variable, the first parameter, the second parameter and the disturbance parameter; and the controller determines output of a preset adaptive change rule at different moments based on the external reference variables and the controlled variables at different moments, and converges the output at different moments to obtain a final first parameter, a final second parameter and a final disturbance parameter. In the mode, the excellent anti-swing performance can be realized under the condition of uncertainty and interference existence, the swing of the crane is effectively reduced, and high-efficiency lifting appliance positioning and anti-swing performance is realized.

    本发明提供了一种起重机控制方法、装置、电子设备和可读存储介质。其中,该方法包括:将外部参考变量输入起重机的参考模型,输出参考变量;将控制器输出的控制信号输入起重机的真实的被控模型,输出被控变量;将外部参考变量和被控变量输入控制器,控制器基于外部参考变量、被控变量、第一参数、第二参数和扰动参数输出控制信号;控制器基于不同时刻的外部参考变量、被控变量确定预先设置的自适应变化规律的不同时刻的输出,将不同时刻的输出进行收敛得到最终的第一参数、第二参数和扰动参数。该方式中,可以确保在不确定性和干扰存在的情况下实现优越的抗摆性能,有效减轻起重机的摆动,具有高效的吊具定位和防摇性能。


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    Title :

    Crane control method and device, electronic equipment and readable storage medium


    Additional title:

    起重机控制方法、装置、电子设备和可读存储介质


    Contributors:
    MENG XINXING (author) / ZHENG JUN (author)

    Publication date :

    2024-03-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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