The invention belongs to the technical field of crane positioning and anti-swing control, and discloses a double-swing bridge crane positioning and anti-swing linear active-disturbance-rejection control method, and the specific technical scheme is as follows: 1, deducing a displacement subsystem, a lifting hook swing angle subsystem and a load swing angle subsystem which are not included in three control variables after the double-swing bridge crane is decoupled through the control variables of a splitting system; 2, respectively designing a linear expansion state observer and a linear error feedback control law for the three decoupled subsystems to carry out real-time estimation and compensation on an initial load swing angle, an internal uncertain state and external interference; thirdly, adjustment of parameters of the linear extended state observer and the linear error feedback control law is converted into adjustment of bandwidth frequency, the convergence and stability of the linear extended state observer and the linear error feedback control law are proved through a Lyapunov method, the linear active disturbance rejection controller has good robustness and anti-interference performance, and the method is obviously superior to a PID control method and an LQR control method and has good application prospects. And the method has important practical engineering application value.
本发明属于起重机定位与防摆控制技术领域,公开了双摆型桥式起重机定位与防摆线性自抗扰控制方法,具体技术方案为:一、通过拆分系统控制量,推导出双摆桥式起重机解耦后三个控制量互不包含的位移、吊钩摆角以及负载摆角子系统;二、针对解耦后的三个子系统分别设计线性扩张状态观测器和线性误差反馈控制律对初始负载摆角、内部不确定状态以及外界干扰进行实时估计与补偿;三、将线性扩张状态观测器与线性误差反馈控制律参数的调节转化为带宽频率的调节,并由Lyapunov法证明其收敛性和稳定性,线性自抗扰控制器具有良好的鲁棒性和抗干扰性,本发明所公开的方法明显优于PID控制方法和LQR控制方法,且具有重要的工程实际应用价值。
Positioning and anti-swing linear active disturbance rejection control method for double-swing bridge crane
双摆型桥式起重机定位与防摆线性自抗扰控制方法
2024-06-07
Patent
Electronic Resource
Chinese
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