The invention discloses a self-adaptive sliding mode control method and system for a seven-degree-of-freedom tower crane. The method comprises the following steps: establishing an under-actuated seven-degree-of-freedom tower crane dynamic model; the model comprises three driving state quantities and four non-driving state quantities; the three driving state quantities comprise trolley displacement, a suspension arm rotation angle and a lifting rope length, and the four non-driving state quantities comprise swing angles of a lifting hook and a load in a three-dimensional space; performing approximate linearization processing on the kinetic model to obtain a kinetic equation; optimizing the kinetic equation into an all-drive system model; acquiring state data of the seven-degree-of-freedom tower crane; constructing a dynamic sliding mode surface based on the error signal; determining an online update rate based on the time delay estimation; constructing a self-adaptive sliding mode controller based on the all-drive system model, the state data, the dynamic sliding mode surface and the online updating rate; and based on the self-adaptive sliding mode controller, the seven-degree-of-freedom tower crane is positioned and subjected to swing elimination.
本发明公开了七自由度塔式起重机自适应滑模控制方法及系统;其中方法,包括:建立欠驱动七自由度塔式起重机动力学模型;模型,包括三个驱动状态量和四个非驱动状态量;所述三个驱动状态量,包括:台车位移,吊臂回转角和吊绳长度,所述四个非驱动状态量,包括:吊钩和负载在三维空间中的摆角;对动力学模型进行近似线性化处理,得到动力学方程;将动力学方程,优化为全驱系统模型;获取七自由度塔式起重机的状态数据;基于误差信号,构造动态滑模面;基于时延估计,确定在线更新率;基于全驱系统模型、状态数据、动态滑模面以及在线更新率,构建自适应滑模控制器;基于自适应滑模控制器,对七自由度塔式起重机进行定位与消摆。
Self-adaptive sliding mode control method and system for seven-degree-of-freedom tower crane
七自由度塔式起重机自适应滑模控制方法及系统
2024-04-30
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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