The invention provides a self-adaptive output feedback anti-swing control method and system for a seven-degree-of-freedom slewing crane, and the method comprises the steps: firstly, building a seven-degree-of-freedom dynamic model which considers the rotation of a base, the amplitude variation of a suspension arm, the change of a rope length, a load and the spherical swing of a lifting hook in a three-dimensional space; then constructing a virtual speed signal estimation item and a gravity compensation online estimation item, and designing a self-adaptive output feedback anti-swing controller; the stability of the closed-loop control system is demonstrated in detail through the Lyapunov stability theory. Experimental results verify that the designed controller has better positioning anti-swing control performance compared with the existing method, and specific system parameters can be accurately estimated online.
本发明提出了七自由度回转起重机自适应输出反馈消摆控制方法及系统,首先,建立了三维空间内考虑底座回转、吊臂变幅、绳长变化,负载和吊钩球面摆动的七自由度动力学模型;然后构造虚拟速度信号估计项和重力补偿在线估计项,并设计一种自适应输出反馈消摆控制器;通过李雅普诺夫稳定性理论详细论证了闭环控制系统的稳定性。实验结果验证了所设计的控制器相比于现有方法具有较好的定位防摆控制性能,并能准确在线估计特定系统参数。
Self-adaptive output feedback anti-swing control method and system for seven-degree-of-freedom slewing crane
七自由度回转起重机自适应输出反馈消摆控制方法及系统
2024-06-21
Patent
Electronic Resource
Chinese
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