The embodiment of the invention provides a crane control method and device, electronic equipment and a readable storage medium, an estimation model and a reference model are constructed, and estimation state parameters of the estimation model are updated by obtaining state parameters of a controlled system and errors between the estimation state parameters of the estimation model. Key control gains, namely feed-forward control gains and feedback control gains, of the controller are updated according to the estimated state parameters and reference state parameters of the reference model, and disturbance estimation of disturbance model parameters is updated according to the state parameters and the estimated state parameters; and the output of the controller is updated according to the key control gain and the disturbance estimation so as to control the controlled system. In the mode, the parameters of the controlled system are adaptively estimated, so that the indirect adjustment of the parameters of the controller is realized. Compared with a direct method, the method does not strictly require that an accurate system model is obtained in advance, the degree of dependence on the accuracy of a dynamic model is reduced, the design of a control system is more flexible, and parameter selection is easier.

    本发明实施例提供了一种起重机控制方法、装置、电子设备和可读存储介质,构建估计模型和参考模型,通过获取被控系统的状态参数以及估计模型的估计状态参数之间的误差更新估计模型估计状态参数,并根据估计状态参数、参考模型的参考状态参数更新控制器的关键控制增益即前馈控制增益和反馈控制增益,根据状态参数以及估计状态参数更新扰动模型参数的扰动估计,并根据关键控制增益、扰动估计更新控制器输出实现对于被控系统的控制。该方式中,通过自适应地估计被控系统的参数,从而实现对控制器参数的间接调整。相较于直接方法,它不再严格要求事先获取精确的系统模型,对动力学模型准确度依赖程度降低,使控制系统设计更具灵活性,参数选择更容易。


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    Title :

    Crane control method and device, electronic equipment and readable storage medium


    Additional title:

    起重机控制方法、装置、电子设备和可读存储介质


    Contributors:
    YANG QINGYAN (author) / ZHENG JUN (author)

    Publication date :

    2024-07-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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