The invention belongs to the technical field of tower crane positioning and anti-swing control, and discloses a tower crane positioning and anti-swing model-free self-adaptive control method, and the specific technical scheme is as follows: 1, establishing a virtual dynamic linearization data model of a tower crane system by using input and output data of a tower crane through a driving modeling method; 2, designing a model-free adaptive control law and a pseudo gradient estimation algorithm on the virtual dynamic linearization data model according to an optimization theory under constraint conditions, and estimating pseudo gradient parameters by using an estimation algorithm of system input and output data; 3, in order to further improve the dynamic performance of the system, a tracking differentiator is added behind the input signal; and 4, the stability of a closed-loop system and the convergence of system errors are proved through Lipschitz conditions and inequality theory analysis, the model-free adaptive controller has good anti-interference performance, and the method disclosed by the invention is obviously superior to a PID control method and has important engineering practical application value.

    本发明属于塔式吊车定位防摆控制技术领域,公开了塔式吊车定位防摆无模型自适应控制方法,具体技术方案为:一、利用塔式吊车的输入输出数据,通过驱动建模方法,建立塔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梯度估计算法,利用系统输入输出数据的估计算法来估计伪梯度参数;三、为了进一步提高系统动态性能,在输入信号后加入了跟踪微分器;四、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。


    Access

    Download


    Export, share and cite



    Title :

    Tower crane positioning anti-swing model-free self-adaptive control method


    Additional title:

    塔式吊车定位防摆无模型自适应控制方法


    Contributors:
    SHAO XUEJUAN (author) / TAO ZHENTAO (author) / CHEN ZHIMEI (author) / ZHOU LIANGLIANG (author) / SUN LAIQING (author) / ZHANG JINGGANG (author)

    Publication date :

    2024-04-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



    Bridge crane positioning anti-swing model-free self-adaptive control method

    SHAO XUEJUAN / ZOU XIUJIAN / ZHANG JINGGANG et al. | European Patent Office | 2023

    Free access

    Anti-swing control method for tower crane

    MA XINXU / YAO ZUCHENG / YIN GUANGHUA et al. | European Patent Office | 2025

    Free access

    Tower crane anti-swing automatic control system

    LOU YUFANG | European Patent Office | 2022

    Free access

    Control method for anti-swing system of tower crane

    ZHENG GUOSUI / ZHANG JINHUA / YAO CUI et al. | European Patent Office | 2023

    Free access

    Tower crane luffing mechanism real-time anti-swing control method and anti-swing device

    JIA XIANFENG / CHENG JIANGLONG / SHAN HONGFENG et al. | European Patent Office | 2020

    Free access