The invention discloses a safety filter for an under-actuated crane system. The filter performs hierarchical real-time control on the crane system through a time-varying constraint method. The dynamic analysis module constructs a crane dynamic mathematical model according to an Euler-Lagrange equation; the state constraint module constructs suspended load time-varying constraint conditions of the crane system according to a time-varying constraint function; a second suspended load time-varying constraint condition of the crane system is constructed; constructing a high-order control obstacle function calculation module according to the crane power mathematical model and the suspended load time-varying constraint condition of the second crane system and according to the crane power mathematical model and the second suspended load time-varying constraint condition of the crane system; the hierarchical quadratic programming module outputs a hierarchical safety control signal to the crane system according to a quadratic programming algorithm by acquiring load information in the state measurement module; the crane is controlled in real time through the safety filter, the transient performance in the aspects of rapid swing eliminating, residual swing restraining and the like can be guaranteed, and it can be guaranteed that the load can avoid dynamic obstacles.
本发明公开了一种用于欠驱动起重机系统的安全滤波器,所述滤波器通过时变约束方法对起重机系统进行层级实时控制;所述动力分析模块根据欧拉‑拉格朗日方程构建起重机动力数学模型,所述状态约束模块根据时变约束函数构建起重机系统的吊载时变约束条件:构建起重机系统的第二吊载时变约束条件;根据所述起重机动力数学模型和所述第二起重机系统的吊载时变约束条件根据所述起重机动力数学模型和所述起重机系统的第二吊载时变约束条件,构建高阶控制障碍函数计算模块;所述分层二次规划模块通过获取状态测量模块中负载信息按照二次规划算法向起重机系统输出层级安全控制信号;本发明通过安全滤波器对起重机进行实时控制,能够保证快速消摆、抑制残余摆动等方面的暂态性能,并且能够保证负载躲避动态障碍物。
Safety filter for under-actuated crane system
一种用于欠驱动起重机系统的安全滤波器
2024-06-14
Patent
Electronic Resource
Chinese
Control method and control system of under-actuated crane system
European Patent Office | 2021
|