The invention belongs to the technical field of cargo transportation, and discloses a crane swing suppression method based on a state feedback linearization technology, which comprises the following steps of: 1, determining a state variable x and a control variable u of a system, and listing a state equation of the system; 2, calculating the Lie derivative of each order of the system, and determining the relative order of the system; 3, calculating a state variable z and a control variable v after variable substitution to obtain a state equation of a linearized system; 4, selecting a feedback gain coefficient matrix, obtaining an expression of v, and further obtaining a control quantity u1 in a swing suppression mode; step 5, obtaining a control quantity u2 in a rope length control mode through a controller P; 6, the control quantity u actually acting on the hoisting system is determined according to the current swing amplitude of the goods, and when the swing amplitude is larger than a certain threshold value epsilon, u = u1 is adopted; otherwise, u is equal to u2. According to the method provided by the invention, the stabilization of the swinging of the goods can be realized in a relatively short time.
本发明属于货物运输技术领域,公开了一种基于状态反馈线性化技术的起重吊摆动抑制方法,包括步骤1:确定系统的状态变量x与控制量u,列出系统的状态方程;步骤2:计算系统的各阶李导数,并确定系统的相对阶;步骤3:计算变量代换后的状态变量z与控制量v,得到线性化系统的状态方程;步骤4:选择反馈增益系数矩阵,得到v的表达式,进而得到摆动抑制模式下的控制量u1;步骤5:经过P控制器得到绳长控制模式下的控制量u2;步骤6:由货物当前的摆动幅值确定实际作用于起重吊系统的控制量u:摆动幅度大于某一阈值∈时,采用u=u1;反之采用u=u2。本发明所提方法可以在较短时间内实现货物摆动的镇定。
Hoisting crane swing suppression method based on state feedback linearization technology
一种基于状态反馈线性化技术的起重吊摆动抑制方法
2024-10-01
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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