The embodiment of the invention provides an anti-swing control method of a bridge crane, a storage medium and computer equipment. The control method comprises the following steps: acquiring operation parameters of the bridge crane; designing an iterative learning controller according to the operation parameters; establishing a two-dimensional bridge crane mathematical model; and designing a U controller, establishing a controlled object inverse model based on a U model theory according to a bridge crane model, and solving the equation by using a Newton iteration method so as to obtain the output of the U controller. A mathematical model of a bridge crane system is converted into a U model form by utilizing a U model control theory, so that the original nonlinear property of the system is reserved, the precision loss caused by linearization of a nonlinear model is avoided, the complexity of the control system is greatly reduced, the design process of a controller is simplified, and the design efficiency of the controller is improved. An iterative learning control method is introduced into the U controller, so that the control system can be quickly converged, the tracking performance of the controller is enhanced, the output error is gradually reduced, and the intelligence of the controller is enhanced.
本说明书实施例提供一种桥式起重机防摇控制方法、存储介质和计算机设备,控制方法包括:获取桥式起重机运行参数;根据运行参数设计迭代学习控制器;建立二维桥式起重机数学模型;设计U控制器,根据桥式起重机模型,建立基于U模型理论的被控对象逆模型,并利用牛顿迭代法求解算式的跟,从而得到U控制器的输出。通过利用U模型控制理论将桥式起重机系统的数学模型转化为U模型形式,保留了系统原本的非线性性质,避免了将非线性模型线性化而造成的精度损失,大幅降低控制系统的复杂程度,简化了控制器设计的过程,将迭代学习控制方法引入U控制器,控制系统可以快速收敛,增强了控制器的跟踪性能,并逐步减小输出误差,增强了控制器的智能性。
Anti-swing control method for bridge crane, storage medium and computer equipment
一种桥式起重机防摇控制方法、存储介质和计算机设备
2024-05-28
Patent
Electronic Resource
Chinese
Anti-swing control method for bridge crane, bridge crane device and bridge crane
European Patent Office | 2022
|European Patent Office | 2024
|