The invention discloses an active-disturbance-rejection control method for an underactuated crane sliding mode with a distributed mass load, which is characterized by comprising the following steps of: firstly, designing a parallel-level linear expansion state observer capable of eliminating the mutual coupling influence of variables according to the characteristic that trolley movement, a lifting hook and load swinging of a crane system are mutually coupled; estimating total disturbance of the system caused by an unmodeled part of the system, a linearization error, a random initial swing angle and wind resistance, superposing an observation value of the total disturbance and an observation static error of the observation value, and then carrying out feedforward compensation so as to improve the control precision and the real-time performance; in order to solve the problem of load swing under input saturation constraint, an auxiliary system is designed to limit control force and is combined with sliding-mode active-disturbance-rejection control, and the swing control method for the under-actuated crane to hoist the distributed mass load is comprehensively formed. The crane can accurately reach a target position along a set track under the conditions of input saturation constraint, internal and external disturbance and random hoisting points, and swing of the distributed mass load is quickly eliminated.

    本发明公布了一种带分布质量负载的欠驱动吊车滑模自抗扰控制方法,其特征在于:首先,根据吊车系统台车运动、吊钩和负载摆动互相耦合的特点,设计能消除变量相互耦合影响的并级线性扩张状态观测器,估计由系统未建模部分、线性化误差、随机初始摆角及风阻导致的系统总扰动,并将总扰动的观测值和其观测静差叠加后进行前馈补偿,以提高控制精度和实时性;为解决输入饱和约束下的负载摆动问题,设计辅助系统限制控制力,并与滑模自抗扰控制相结合,综合形成欠驱动吊车吊运分布质量负载的摆动控制方法,使吊车在输入饱和约束、内外扰动、起吊点随机的情况下都能沿着设定轨迹精确到达目标位置,并快速消除分布质量负载的摆动。


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    Title :

    Active-disturbance-rejection control method for underactuated crane sliding mode with distributed mass load


    Additional title:

    一种带分布质量负载的欠驱动吊车滑模自抗扰控制方法


    Contributors:
    XIAO YOUGANG (author) / HU ZIXIN (author) / LI BINZHUO (author) / TENG ZIXIN (author)

    Publication date :

    2024-12-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL





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