CN108439209A - Position control method, apparatus and system in drive lacking marine hoist finite time - Google Patents
Position control method, apparatus and system in drive lacking marine hoist finite time Download PDFInfo
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- CN108439209A CN108439209A CN201810400807.2A CN201810400807A CN108439209A CN 108439209 A CN108439209 A CN 108439209A CN 201810400807 A CN201810400807 A CN 201810400807A CN 108439209 A CN108439209 A CN 108439209A
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- sunpender
- marine hoist
- lifting rope
- finite time
- load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses position control method, apparatus and system in a kind of drive lacking marine hoist finite time, this method includes：Step (1)：Based on marine hoist system can drive part kinetic model construction Second Order Sliding Mode face, and introduce and construct gamma controller with the relevant nonlinear bounded function of positioning error signal；Step (2)：Receive the physical parameter of the marine hoist system of setting；Step (3)：It receives the sunpender pitch angle acquired in real time, lifting rope length, load hull roll angle caused by pivot angle and sea wave disturbance；Step (4)：By the data of reception by carried gamma controller, the input power and torque of control sunpender pitching movement and lifting rope length are calculated；Step (5)：Driving sunpender and lifting rope are moved to target location in finite time, and can eliminate the Residual oscillations of load.
Description
Technical field
The invention belongs to the technical fields of ocean engineering control, are related to a kind of interior positioning of drive lacking marine hoist finite time
Control method, apparatus and system.
Background technology
In practical applications, most of mechanical systems all non-linear and drive lacking characteristics with height.Wherein, crane system
System has obtained the extensive concern of researcher as a kind of typical nonlinear industrial mechanical system.Due to waiting for for drive lacking crane
Control input number will be more than by controlling state variable number, and the difficulty of controller design will be greatly increased.
Currently, to further increase the working efficiency of crane system and reducing system energy consumption as possible, some valuable sides
Method is suggested and has been successfully applied to crane system.Specifically, open-loop control method is suitable for that apparent external disturbance is not present
Crane system, including input shaper and trajectory planning etc..The above method can reduce hardware deterioration and can avoid being not allowed
Influence of the true feedback information to control performance.In addition to this, in order to resist unknown inside and outside disturbance, control is effectively improved
Effect can introduce the closed loop control method with stronger robustness, have a very important significance in practical applications.
Currently, the research of closed loop control method is more mature, including self adaptive control, robust control, sliding formwork control, fuzzy control, mould
Type PREDICTIVE CONTROL etc..
With the fast development of ocean engineering, marine hoist system has height as a kind of important marine vehicle
The flexibility of degree and lower energy loss, and then obtain researcher and more and more pay close attention to.However, due to marine hoist complexity
Mechanical structure, kinetic model shows stronger non-linear and coupling.Also, the pitching movement of sunpender will be further
Increase loaded amplitude of fluctuation, brings potential safety problem.In addition, in practical applications, it is necessary to consider sea wave disturbance to negative
The influence of positioning is carried, excessive wave disturbance will cause hull to generate unknown movement, to inevitably affect load
It positions and the control effect for the pendulum that disappears.
Currently, in order to handle control problem of the marine hoist under sea wave disturbance, some very have the work of researching value
Make just actively expansion.It is worth noting that, the control method research for marine hoist system is still at an early stage, although hanging
Bar positions and load disappears, and the main control targe such as pendulum is realized substantially, but the control performance in entire transportational process also need by into
One step improves perfect.Particularly, by the comprehensive analysis to the prior art and method, some important problems are worth deeply being ground
Study carefully and urgently to be resolved hurrily：
1) kinetics equation that most of existing closed loop control methods are all based on after linearisation is designed analysis, from
And reduce the difficulty of controller design.However, when marine hoist is by extraneous unknown disturbances and the load of generation by a relatively large margin
When swing, system state variables will will be unable to the non-linear spy for accurately reflecting system far from equalization point, inearized model
Property, so that control performance is reduced significantly.
2) in general, existing control method can only obtain system balancing point bounded or asymptotically stable result.Change sentence
It talks about, the position error of state variable can not be completely eliminated in finite time and corresponding convergence time can not also pass through
It adjusts the means such as gain and strictly controls.
3) for drive lacking marine hoist system, most of closed loop control methods only will can drive the feedback information of variable to draw
Enter controller, and the load pivot angle that can not be directly driven is only capable of through the coupled relation between state variable by indirect control.
In conclusion to eliminate the influence that marine hoist mission nonlinear model linearization is brought, the positioning of load is completed
And the pendulum that disappears, and ensure that sunpender and lifting rope reach designated position in finite time, there is an urgent need for a kind of effective gamma controller,
Further increase the control performance of marine hoist system.
Invention content
For deficiency existing for marine hoist system control method in the prior art, how solution eliminates ship in the prior art
The influence brought is linearized with crane system nonlinear model while ensureing that sunpender and lifting rope reach specific bit in finite time
The problem of setting, the present invention provides location controls in a kind of drive lacking marine hoist finite time to draw method, apparatus and system, has
Effect ensure that marine hoist system in the case of sea wave disturbance, still steadily can effectively run, and in finite time
Location control is completed, the target for loading the pendulum that disappears is fast implemented.
The first object of the present invention is to provide position control method in a kind of drive lacking marine hoist finite time.
To achieve the goals above, the present invention is using a kind of following technical solution：
Position control method in a kind of drive lacking marine hoist finite time, this method include：
Step (1)：Based on marine hoist system can drive part kinetic model construction Second Order Sliding Mode face, and introduce with
The relevant nonlinear bounded function of positioning error signal constructs gamma controller；
Step (2)：Receive the physical parameter of the marine hoist system of setting；
Step (3)：It receives the sunpender pitch angle acquired in real time, lifting rope length, load ship caused by pivot angle and sea wave disturbance
Body roll angle；
Step (4)：By the data of reception by carried gamma controller, calculates control sunpender pitching movement and lifting rope is long
The input power and torque of degree；
Step (5)：Driving sunpender and lifting rope are moved to target location in finite time, and can eliminate the residual of load
Remaining swing.
Scheme as a further preference, in the step (1), the marine hoist system can drive part dynamics
Model be based on Lagrangian method establish about sunpender pitch angle and its corresponding angular speed and angular acceleration, lifting rope length and
It is disturbed caused by its corresponding speed and acceleration, load pivot angle and its corresponding angular speed and angular acceleration, hull roll motion
Nonlinear dynamical equation that is dynamic and acting on the driving force and torque on sunpender and lifting rope.
Scheme as a further preference, the middle specific steps for building gamma controller of the step (1) include：
Step (1-1)：Define the control targe under earth coordinates；The control targe includes when adjusting to be supported on limited
The interior Residual oscillations for reaching its target location and quickly eliminating load；
Step (1-2)：Define vector sum positioning error signal to be controlled；The vector to be controlled is the system shape after coordinate transform
The transposed vector of state amount composition；The positioning error signal is the difference of vector and its desired value to be controlled；
Step (1-3)：According to the control targe of definition, vector sum positioning error signal to be controlled, it is based on marine hoist system
Can drive part kinetic model construction Second Order Sliding Mode face, and introduce and the relevant nonlinear bounded function of positioning error signal
Construct gamma controller.
Scheme as a further preference, in the step (1-2), the desired value of system state amount is to utilize coordinate transform
And combine the desired value of the system state amount after the coordinate transform that the target location in step (1-1) is calculated.
Scheme as a further preference, in the step (1-3), the gamma controller is about Second Order Sliding Mode
Face, the system state amount after transformation and its derivative, with the first derivative of the relevant nonlinear bounded function of positioning error signal, two
The function of order derivative.
Scheme as a further preference, in the step (2), the physical parameter of marine hoist system includes：Load matter
Amount, length of boom, the product of distance and sunpender quality of sunpender center of gravity to shaft, acceleration of gravity, lifting rope effective length it is upper
Lower limit.
Scheme as a further preference, this method further include carrying out being based on Li Yapunuo to marine hoist system balancing point
The stability analysis of husband's method.
The second object of the present invention is to provide a kind of computer readable storage medium.
To achieve the goals above, the present invention is using a kind of following technical solution：
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction can be by the processing of terminal device
Device loads and executes following processing：
Step (1)：Based on marine hoist system can drive part kinetic model construction Second Order Sliding Mode face, and introduce with
The relevant nonlinear bounded function of positioning error signal constructs gamma controller；
Step (2)：Receive the physical parameter of the marine hoist system of setting；
Step (3)：It receives the sunpender pitch angle acquired in real time, lifting rope length, load ship caused by pivot angle and sea wave disturbance
Body roll angle；
Step (4)：By the data of reception by carried gamma controller, calculates control sunpender pitching movement and lifting rope is long
The input power and torque of degree；
Step (5)：Driving sunpender and lifting rope are moved to target location in finite time, and can eliminate the residual of load
Remaining swing.
The third object of the present invention is to provide position control device in a kind of drive lacking marine hoist finite time.
To achieve the goals above, the present invention is using a kind of following technical solution：
Position control device in a kind of drive lacking marine hoist finite time, including processor and computer-readable storage medium
Matter, processor is for realizing each instruction；For computer readable storage medium for storing a plurality of instruction, described instruction can be by processor
It loads and executes following processing：
Step (1)：Based on marine hoist system can drive part kinetic model construction Second Order Sliding Mode face, and introduce with
The relevant nonlinear bounded function of positioning error signal constructs gamma controller；
Step (2)：Receive the physical parameter of the marine hoist system of setting；
Step (3)：It receives the sunpender pitch angle acquired in real time, lifting rope length, load ship caused by pivot angle and sea wave disturbance
Body roll angle；
Step (4)：By the data of reception by carried gamma controller, calculates control sunpender pitching movement and lifting rope is long
The input power and torque of degree；
Step (5)：Driving sunpender and lifting rope are moved to target location in finite time, and can eliminate the residual of load
Remaining swing.
The fourth object of the present invention is to provide positioning control system in a kind of drive lacking marine hoist finite time.
To achieve the goals above, the present invention is using a kind of following technical solution：
Positioning control system in a kind of drive lacking marine hoist finite time, the system include sequentially connected data acquisition
Position control device and marine hoist drive system in device, drive lacking marine hoist finite time；
The data acquisition device draws for acquiring sunpender pitch angle, lifting rope length, load pivot angle and sea wave disturbance in real time
The hull roll angle risen, and it is transmitted to position control device in drive lacking marine hoist finite time；
Position control device in the drive lacking marine hoist finite time, for receiving the marine hoist system set
Physical parameter；It receives the sunpender pitch angle acquired in real time, lifting rope length, load hull roll caused by pivot angle and sea wave disturbance
Angle；By the data of reception by the gamma controller that constructs meticulously, the defeated of control sunpender pitching movement and lifting rope length is calculated
Enter power and torque, and is transmitted to marine hoist drive system；
The marine hoist drive system, input power and power for receiving control sunpender pitching movement and lifting rope length
Square, and target location is moved in finite time based on this driving sunpender and lifting rope, and the remaining pendulum of load can be eliminated
It is dynamic.
Scheme as a further preference, the data acquisition device include the encoder being fixed on servo motor and solely
Vertical angular transducer.
Beneficial effects of the present invention：
1, position control method, apparatus and system in a kind of drive lacking marine hoist finite time of the present invention,
In the case of sea wave disturbance, effective control to marine hoist load orientation is realized, sunpender and lifting rope are driven in finite time
Designated position is reached, and quickly eliminates the Residual oscillations of load.
2, position control method, apparatus and system in a kind of drive lacking marine hoist finite time of the present invention, this
Invention will introduce sliding-mode surface with the relevant nonlinear bounded function of positioning error signal and construct controller, so ensure sunpender and
Lifting rope can reach designated position in finite time.
3, position control method, apparatus and system in a kind of drive lacking marine hoist finite time of the present invention, control
Device processed introduce with the relevant nonlinear terms of hunting of load angular speed, the pendulosity energy that disappears can be further increased, obtained satisfactory
Control effect.
4, position control method, apparatus and system in a kind of drive lacking marine hoist finite time of the present invention, and
Marine hoist system dynamics equation need not be linearized or ignore certain nonlinear terms, even if system is disturbed by the external world
It is dynamic, state variable all far from equalization point when can also realize preferable control effect, be expected to be applied to practical large size marine hoist
In system, have important practical significance.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.
Fig. 1 is the method flow diagram in the present invention；
Fig. 2 is the experimental result picture of the method for the present invention in an experiment, wherein system state amount, pitch control amount after transformation
φ is corresponded to respectively with rope length controlled quentity controlled variable1、φ2、φ3、FbAnd Fl；
Fig. 3 is experimental result picture of the prior art in contrast experiment, wherein system state amount, pitch control after transformation
Amount and rope length controlled quentity controlled variable correspond to φ respectively1、φ2、φ3、FbAnd Fl。
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms that the present embodiment uses have and the application person of an ordinary skill in the technical field
Normally understood identical meanings.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
It should be noted that side of flow chart and the block diagram shows in attached drawing according to various embodiments disclosed by the invention
Method and system architecture, function and operation in the cards.It should be noted that each box in flowchart or block diagram can generation
A part for one module, program segment, or code of table, the part of the module, program segment, or code may include one or
Multiple executable instructions for realizing the logic function of defined in each embodiment.It should also be noted that at some as standby
In the realization of choosing, the function of being marked in box can also occur according to the sequence different from being marked in attached drawing.For example, two
The box indicated that is connected can essentially be basically executed in parallel or they can also be executed in a reverse order sometimes,
This depends on involved function.It should also be noted that each box in flowchart and or block diagram and flow chart
And/or the combination of the box in block diagram, it can be come using the dedicated hardware based system for executing predetermined function or operation real
It is existing, or can make to combine using a combination of dedicated hardware and computer instructions to realize.
In the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other, and tie below
Closing attached drawing, the invention will be further described with embodiment.
Embodiment 1：
The purpose of the present embodiment 1 is to provide position control method in a kind of drive lacking marine hoist finite time.
To achieve the goals above, the present invention is using a kind of following technical solution：It can drive part according to marine hoist
Kinetic model constructs Second Order Sliding Mode face, and introduces and construct non-linear control with the relevant nonlinear bounded function of positioning error signal
Device processed ensures that sunpender and lifting rope reach designated position in finite time, finally utilizes liapunov's method, it was demonstrated that system
The stability of equalization point.In addition to this, it is the Residual oscillations for eliminating load as early as possible, is added and swing angular velocity phase in the controller
The coupling terms of pass further increase the pendulosity energy that disappears of control method.The method can be completed in finite time to sunpender pitching
The pendulum that quickly disappears of angle and rope length accurately controlled with load.
As shown in Figure 1, position control method in a kind of drive lacking marine hoist finite time, this method include：
Step (1)：Based on marine hoist system can drive part kinetic model construction Second Order Sliding Mode face, and introduce with
The relevant nonlinear bounded function of positioning error signal constructs gamma controller；
Step (2)：Receive the physical parameter of the marine hoist system of setting；
Step (3)：It receives the sunpender pitch angle acquired in real time, lifting rope length, load ship caused by pivot angle and sea wave disturbance
Body roll angle；
Step (4)：By the data of reception by carried gamma controller, calculates control sunpender pitching movement and lifting rope is long
The input power and torque of degree；
Step (5)：Driving sunpender and lifting rope are moved to target location in finite time, and can eliminate the residual of load
Remaining swing.
In the step (1) of the present embodiment, the marine hoist system can drive part kinetic model be profit
With Lagrangian modeling method establish about sunpender pitch angle and its corresponding angular speed and angular acceleration, lifting rope length and its
Disturbance caused by corresponding speed and acceleration, load pivot angle and its corresponding angular speed and angular acceleration, hull roll motion
And act on the nonlinear dynamical equation of the driving force and torque on sunpender and lifting rope.
The marine hoist system dynamics equation established based on Lagrangian modeling method is as follows：
Wherein, for simplicity, S is introduced respectivelyθ-ψ,Cθ-ψ,Sθ-δ,Cθ-δIndicate sin (θ-ψ), cos (θ-ψ), sin (θ-
δ),cos(θ-δ)；ψ(t),Respectively sunpender pitch angle and its corresponding angular speed and angular acceleration, l (t),Respectively refer to lifting rope length and its corresponding speed and acceleration, θ (t),Respectively indicate load pivot angle and its
Corresponding angular speed and angular acceleration, δ (t),Respectively hull roll angle and its corresponding angular speed and angle accelerate
Degree, Fb(t),Fl(t) it is respectively to act on driving moment/power on sunpender and lifting rope, t indicates the time, and (t) is indicated behind variable
The variable is the function about time t；For simplicity, it is subsequent (t) to omit time-based variable；mpIndicate load matter
Amount, MDFor the product of the distance and sunpender quality of sunpender center of gravity to shaft, LBIt is then length of boom, g indicates that acceleration of gravity, I are
The rotary inertia of sunpender；fd1(t),fd2(t),fd3(t) disturbance caused by hull roll motion is respectively represented, concrete form is such as
Under：
Wherein, c indicates coefficient of air resistance.
In fact, the position of load is typically in earth coordinates χeUnder be defined.Then, when roll fortune occurs for hull
When dynamic, it is supported on earth coordinates χeUnder two-dimensional coordinate (x, y) following form can be represented as：
, it is clear that when load pivot angle changes with hull roll motion, you can realize the positioning of load.Cause
This, can obtain following equation：
Wherein, arccos represents inverse cosine function, (xd,yd) it is to be supported on earth coordinates χeUnder two dimension target position,
ψd,ld,θdSunpender pitch angle, rope length and the desired value for loading pivot angle are indicated respectively.However, the ψ of time-varyingd,ld,θdControl will be increased
The difficulty of device design processed.It is solved the above problems in the present embodiment by following coordinate transform：
φ1=ψ-δ, φ2=l, φ3=θ-δ, (7)
Wherein, φ1,φ2,φ3System state variables after respectively converting.
The specific steps of structure gamma controller include in the step (1) of the present embodiment：
Step (1-1)：Define the control targe under earth coordinates；The control targe includes when adjusting to be supported on limited
The interior Residual oscillations for reaching its target location and quickly eliminating load.
During the motion, the control targe of marine hoist system includes following two aspect：
1) in earth coordinates χeUnder, adjusting, which is supported in finite time, reaches its target location (xd,yd), wherein xd,yd
Respectively it is supported on earth coordinates χeThe two-dimensional coordinate of lower target location, can be by driving sunpender and lifting rope in finite time
Designated position is reached to realize；
2) earth coordinates χeUnder, quickly eliminate the Residual oscillations of load.
Step (1-2)：Define vector sum positioning error signal to be controlled；The vector to be controlled is the system shape after coordinate transform
The transposed vector of state amount composition；The positioning error signal is the difference of vector and its desired value to be controlled；
According to the description in step (1) following coordinate transform is introduced during building gamma controller：
φ1=ψ-δ, φ2=l, φ3=θ-δ,
Wherein, ψ (t) is the pitch angle of sunpender, and l (t) is the length of lifting rope, and θ (t) is load pivot angle, and δ (t) draws for wave
The roll angle of the hull risen, φ1(t),φ2(t),φ3(t) system state amount after transformation is respectively represented, t indicates time, variable
(t) indicates that the variable is the function about time t below；For simplicity, it is subsequent (t) to omit most number variable；Define ship
With after crane coordinate transform system state amount form vector to be controlled beWherein, symbolTable
Show matrix/vector transposition；
In the step (1-2) of the present embodiment, the desired value of system state amount is using coordinate transform and to combine step
Suddenly the desired value of the system state amount after the coordinate transform that the target location in (1-1) is calculated.Convolution (6) and formula
(7), using above-mentioned coordinate transform, and control targe, the system state amount φ after being converted are combined1,φ2,φ3Mesh
Scale value φ1d,φ2d,φ3dFor：
Wherein, arccos represents inverse cosine function, xd,ydRespectively it is supported on earth coordinates χeThe two of lower target location
Dimension coordinate, LBFor length of boom, φ1d,φ2d,φ3dSystem state amount φ after respectively converting1,φ2,φ3Desired value.
φ1d,φ2d,φ3dFor constant, to effectively reduce the difficulty of controller design.It, can be by formula (1)-formula for the ease of analysis
(3) it is transformed to following form：
Wherein,AndSystem state amount φ after respectively converting1,φ2,φ3Single order about time t
And second dervative, S1-3,C1-3,C1,C3,S3Sin (φ are indicated respectively1-φ3),cos(φ1-φ3),cosφ1,cosφ3,sin
φ3。
In view of in practical applications, the load of marine hoist system is swung below sunpender always, pretends out following vacation
If：
Assuming that 1：In marine hoist operational process, load pivot angle θ is bounded, and it changes model in transportational process
It encloses always between (- pi/2, pi/2).
For ease of into the design of line control unit, kinetics equation (8)-formula (10) can be converted to following Matrix-Vector
Form：
Wherein,Be system can drive part vector to be controlled,It can be driven for system
Second derivative of the vector to be controlled of dynamic part about the time, symbolRepresenting matrix/vector transposition,ForAbout the derivative of time t,Indicate the input vector of control sunpender and lifting rope,To embody form as follows：
The purpose of the present invention is in the case of sea wave disturbance, based on the original nonlinear kinetics mould of marine hoist system
Type designs a kind of gamma controller based on sliding formwork control, in earth coordinates χeUnder, adjusting is supported in finite time
Reach its target location (xd,yd), it can be realized by driving sunpender and lifting rope to reach designated position in finite time, and fast
Speed eliminates the Residual oscillations of load.It is using mathematical formulae that above-mentioned object representation is as follows from the perspective of automatically controlling：
Wherein, φ1(t),φ2(t),φ3(t) system state amount after difference table transform, φ1d,φ2dφ is indicated respectively1
(t),φ2(t) desired value, TrRepresent the preset finite convergence time.
Define the error signal e of marine hoist system1(t),e2(t) it is respectively
e1=φ1-φ1d,e2=φ2-φ2d,
Therefore deduce that error signal is about the derivative of time t
Wherein,φ is indicated respectively1(t),φ2(t) derivative about time t.
Step (1-3)：According to the control targe of definition, vector sum positioning error signal to be controlled, it is based on marine hoist system
Can drive part kinetic model construction Second Order Sliding Mode face, and introduce and the relevant nonlinear bounded function of positioning error signal
Construct gamma controller.
In the step (1-3) of the present embodiment, the gamma controller is about Second Order Sliding Mode face, after transformation
System state amount and its derivative, the letter with the first derivative of the relevant nonlinear bounded function of positioning error signal, second dervative
Number.The construction process of carried gamma controller is described more detail below：
For convenience of further deriving analysis, it is firstly introduced into following auxiliary vector：
Wherein,Expression system can drive part derivative of the vector n to be controlled about time t,Expression system can driving portion
The vector objective value n to be controlled divideddDerivative about time t.It defines simultaneously as follows with the relevant vector E of error signal：
Wherein, e1=φ1-φ1d,e2=φ2-φ2d,φ1,φ2,After indicating transformation respectively
System state amount and its derivative about time t, e1,e2,Quantity of state φ is indicated respectively1,φ2Position error and its pass
In the derivative of time.
Secondly, by a series of analyses to system, following Second Order Sliding Mode face is designed：
Wherein, C=[C1,C2]∈R2×4For scalar matrix,Expression waits for
Fixed gain,r1(t),r2(t) respectively indicate and error signal e1(t),
e2(t) relevant bounded function.Then, sliding-mode surface s1,s2It may be expressed as
In order to ensure that error signal can converge to zero, r in preset time1(t),r2(t) it needs to meet following constraint：
Wherein, i=1,2.It then, can be by r1(t),r2(t) it is respectively configured to following trigonometric spine function：
Wherein, τ=t π/Tr, TrRepresent preset finite convergence time, αij,βik(i=1,2；J=0,1,2,3；K=1,
2) undetermined parameter is indicated.Then, constraints (20) is substituted into formula (21) and formula (22), can be calculated
Next, can be acquired about the derivation of time t to sliding-mode surface sIt is as follows：
Wherein,The second dervative of respectively e (t), r (t) about time t.Then, based on Second Order Sliding Mode face s's
Concrete form, design obtain device control as follows：
Wherein,Gain in order to control, C2=diag { c21,c22, K, kθ,c11,c12,c21,c22It is positive control
Gain processed；S is Second Order Sliding Mode face, meets the definition in formula (19)；φ is indicated respectively1(t),φ2(t),φ3
(t) derivative about time t；Expression and error signal e respectively1(t),e2(t) relevant bounded function
r1(t),r2(t) single order, second dervative, r1(t),r2(t) meet the definition in formula (21)-(23)；SymbolIndicate square
Battle array/vectorial transposition；Symbol " | | | | " indicate vectorial 2- norms；In addition, p11,p12,p21,p22,w1,w2Concrete form such as
Under：
Wherein, sin, cos respectively represent SIN function and cosine function respectively, and I is the rotary inertia of sunpender, mp,LBRespectively
For load quality and length of boom, c is coefficient of air resistance, MDIndicate sunpender center of gravity to the distance of shaft and multiplying for sunpender quality
Product, g is acceleration of gravity.
The present embodiment the step of in (2), the physical parameter of the marine hoist system of setting is received；Marine hoist system
Physical parameter includes：Load quality, length of boom, the distance of sunpender center of gravity to shaft and the product of sunpender quality, gravity accelerate
The bound of degree, lifting rope effective length.
The present embodiment the method further includes being carried out to marine hoist system balancing point using Liapunov candidate functions
Stability analysis.
This part will utilize liapunov's method, and stringent stability analysis is carried out to marine hoist closed-loop system, demonstrate,prove
The validity of bright controller (25).
To realize control targe, following Liapunov candidate functions V (t) is chosen first：
And V (t) can be obtained about time derivation and using formula (24)
Then controller (25) is substituted into above formula (27), can be obtained by stringent calculating
It is further noted thatIt can be obtained as drawn a conclusion：
Based on the Second Order Sliding Mode face s and bounded function r constructed meticulously1(t),r2(t), it can be found that in control process
Initial time s (0)=0, that is to say, that initial time state variable is just located on sliding-mode surface s, i.e. V (0)=0.Therefore, according to V
(t)≥0,It can be inferred that
In view of known to the concrete form of R (t)I.e. after the preset lime, E (t)=0 is permanent sets up,
That is error signal and its derivative e about the time1,e2,It can be in Finite-time convergence in zero.In addition to this, root
According to the conclusion in s ≡ 0 and formula (29), it is easy to obtain
Conclusion (29) and (31) are substituted into formula (10), it is known that
Then above formula (32) is integrated in finite time ρ, can be obtained as drawn a conclusion：
Convolution (32) and formula (33), can obtain conclusion：Therefore, it before sunpender reaches target location, bears
It is all bounded to carry pivot angle and its corresponding angular speed and angular acceleration.
Next, liapunov's method and Russell's principle of invariance will be utilized to prove error signal e1,e2Complete Convergence
After zero, the asymptotic stability of pivot angle equalization point is loaded.Based on conclusion φ1(t)=φ1d,φ2(t)=φ2d,Formula (10) can be reduced to
Then, following Liapunov candidate functions can be constructed：
Wherein, φ2d＞ 0, then, it is easy to obtain Vp(t)≥0.Then to Vp(t) about the derivation of time t, and by formula
(34) V is substituted intop(t) derivativeKnown to
And then it obtains as drawn a conclusion：
Finally, whole proof procedures will be completed using Russell's principle of invariance.It is defined as follows set Ξ：
Meanwhile it is the maximum invariant subset in Ξ to define Π, according to formula (34), formula (36) and formula (37) are it is found that in Π
It includes the closed loop equalization point for loading pivot angle that above-mentioned conclusion (38), which illustrates set Π only, then utilizes Russell's invariance
The equalization point that principle can prove to load pivot angle in closed-loop system is asymptotically stable, i.e., the controller designed by the present invention can be with
Realize target.
Embodiment 2：
The purpose of the present embodiment 2 is to provide a kind of computer readable storage medium.To achieve the goals above, the present invention adopts
With a kind of following technical solution：
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction can be by the processing of terminal device
Device loads and executes following processing：
Step (1)：Based on marine hoist system can drive part kinetic model construction Second Order Sliding Mode face, and introduce with
The relevant nonlinear bounded function of positioning error signal constructs gamma controller；
Step (2)：Receive the physical parameter of the marine hoist system of setting；
Step (3)：It receives the sunpender pitch angle acquired in real time, lifting rope length, load ship caused by pivot angle and sea wave disturbance
Body roll angle；
Step (4)：By the data of reception by carried gamma controller, calculates control sunpender pitching movement and lifting rope is long
The input power and torque of degree；
Step (5)：Driving sunpender and lifting rope are moved to target location in finite time, and can eliminate the residual of load
Remaining swing.
Embodiment 3：
The purpose of the present embodiment 3 is to provide a kind of terminal device.To achieve the goals above, the present invention is using following a kind of
Technical solution：
A kind of terminal device, including processor and computer readable storage medium, processor is for realizing each instruction；It calculates
For machine readable storage medium storing program for executing for storing a plurality of instruction, the scope of application of described instruction is in the same manner as in Example 2.These computers can
It executes instruction when running in a device so that the equipment executes method or mistake described in each embodiment disclosed in the present invention
Journey.
In the present embodiment, computer program product may include computer readable storage medium, containing for holding
The computer-readable program instructions of various aspects disclosed in the row present invention.Computer readable storage medium can be stored
By the tangible device for the instruction that instruction execution equipment uses.Computer readable storage medium include but not limited to storage device electric,
Magnetic storage apparatus, light storage device, electromagnetism storage device, semiconductor memory apparatus or any appropriate combination of above equipment.
The more specific example (non exhaustive list) of computer readable storage medium includes：Portable computer diskette, is deposited hard disk at random
Access to memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or flash memory), static random are deposited
Access to memory (SRAM), Portable compressed disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk,
Mechanical coding equipment, the punch card for being stored with instruction or groove internal projection structure and above-mentioned any appropriate combination.Here
Used computer readable storage medium is not interpreted instantaneous signal itself, such as radio wave or other Free propagations
Electromagnetic wave, the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) or logical propagated by waveguide or other transmission mediums
Cross the electric signal of electric wire transmission.
Computer-readable program instructions described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
Can be assembly instruction, instruction set architecture for executing the computer program instructions operated by present disclosure
(ISA) instruction, machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more
Programming language arbitrarily combines the source code or object code write, and the programming language includes the programming language-of object-oriented
" C++ " etc., and conventional procedural programming languages-such as " C " language or similar programming language.It is computer-readable
Program instruction can be executed fully, partly execute on the user computer, is independent as one on the user computer
Software package is executed or is executed on a remote computer or server completely.In situations involving remote computers, long-range meter
Calculation machine can be connected to subscriber computer by the network-of any kind including LAN (LAN) or wide area network (WAN)-, or
Person, it may be connected to outer computer (such as being connected by internet using ISP).In some implementations
In example, come personalized customization electronic circuit, such as programmable logic by using the status information of computer-readable program instructions
Circuit, field programmable gate array (FPGA) or programmable logic array (PLA), the electronic circuit can execute computer-readable
Program instruction, to realize the various aspects of present disclosure.
It should be noted that although being referred to several modules or submodule of equipment in the detailed description above, it is this
Division is merely exemplary rather than enforceable.In fact, according to embodiment disclosed in the present invention, above-described two or
The feature and function of more multimode can embody in a module.Conversely, the feature and work(of an above-described module
It can be further divided into multiple modules and realize materialization.
Embodiment 4：
The purpose of the present embodiment 4 is to provide positioning control system in a kind of drive lacking marine hoist finite time.For reality
Existing above-mentioned purpose, the present invention is using a kind of following technical solution：
Positioning control system in a kind of drive lacking marine hoist finite time, the system include：Sequentially connected data are adopted
Position control device and marine hoist drive system in acquisition means, drive lacking marine hoist finite time；
The data acquisition device draws for acquiring sunpender pitch angle, lifting rope length, load pivot angle and sea wave disturbance in real time
The hull roll angle risen, and it is transmitted to position control device in drive lacking marine hoist finite time；
Position control device in the drive lacking marine hoist finite time, for receiving the marine hoist system set
Physical parameter；It receives the sunpender pitch angle acquired in real time, lifting rope length, load hull roll caused by pivot angle and sea wave disturbance
Angle；By the data of reception by the gamma controller that constructs meticulously, the defeated of control sunpender pitching movement and lifting rope length is calculated
Enter power and torque, and is transmitted to marine hoist drive system；
The marine hoist drive system, input power and power for receiving control sunpender pitching movement and lifting rope length
Square, and target location is moved in finite time based on this driving sunpender and lifting rope, and the remaining pendulum of load can be eliminated
It is dynamic.
In the present embodiment, the data acquisition device includes the encoder being fixed on servo motor and independent angle
Sensor.Measure the pitch angle ψ (t) of sunpender respectively using the encoder and independent angular transducer that are fixed on servo motor
With lifting rope length l (t), and the pivot angle θ (t) of load.
The system of the present invention is compared with the prior art in the present embodiment, it is of the present invention a kind of deficient to verify
The validity of position control method, apparatus and system in marine hoist finite time is driven, chooses the prior art same hard
Contrast experiment is carried out on part experiment porch (the marine hoist platform that laboratory is independently built).In experiment, load quality, sunpender are long
Degree, acceleration of gravity, sunpender center of gravity to shaft distance and sunpender quality product, the rotary inertia value of sunpender it is as follows：
mp=0.34kg, LB=0.65m, g=9.8m/s2,
MD=0.29kgm, I=0.2457kgm2.
By control method proposed by the invention and non-linear composite control method (Y.Fang, P.Wang, N.Sun, and
Y.Zhang,Dynamics analysis and nonlinear control of an offshore boom crane,
IEEE Transactions on Industrial Electronics,vol.61,no.1,pp.414-427,Jan.2014.)
It is compared, compares the locating effect of sunpender and rope length and the pendulum effect that disappears of load.In all experiments, preset time Tr=
1s, the system state amount φ after transformation1,φ2,φ3Initial value be set as φ1(0)=0deg, φ2(0)=0.6m, φ3(0)
=0deg is supported on earth coordinates χeUnder two dimension target position be chosen for
This makes it possible to obtain the system state amount φ after transformation1,φ2,φ3Desired value be φ1d=45deg, φ2d=0.2m, φ3d=
0deg.In addition, the roll motion of " hull " (i.e. disturbance device) is arranged to δ (t)=8sin (0.2t+0.4) deg.Wherein,
Deg degree of a representations.
In the present embodiment, non-linear composite control method, method, the positioning for comparing sunpender and rope length are imitated as a comparison
The pendulum effect that disappears of fruit and load, to verify the validity of the nonlinear control method proposed by the invention based on sliding formwork control.
Specific comparison process and datail description are as follows：
First, sliding mode controller Selecting All Parameters proposed by the invention are as follows：
c11=1, c12=8, c21=0.1, c22=3, K=13.9, kθ=0.04.
For non-linear composite control method, by adjusting in earnest, gain control as follows can be chosen：
kL1=34, kL2=10, k1=17, k2=2.5, k3=2.6,
kα=0.2, kβ=0.25, kx=0.6, σ=0.01.
Experimental result is as shown in attached drawing 2 and attached drawing 3.Fig. 2 for institute's extracting method of the present invention experimental result, wherein transformation after
System state amount, sunpender pitching movement controlled quentity controlled variable and lifting rope length controlled quentity controlled variable correspond respectively to φ1、φ2、φ3、FbAnd Fl, (from upper
Under) dotted line in the 1st subgraph and the 2nd subgraph indicates φ respectively1,φ2Target location φ1d,φ2d；Fig. 3 is to analogy
The experimental result of method, wherein the system state amount, sunpender pitching movement controlled quentity controlled variable and lifting rope length controlled quentity controlled variable after transformation are right respectively
It should be in φ1、φ2、φ3、FbAnd Fl, the dotted line in (from top to bottom) the 1st subgraph and the 2nd subgraph indicates φ respectively1,φ2's
Target location φ1d,φ2d.The carried control method of the present invention can just make system state amount φ in preset time1,φ2Reach mesh
Scale value φ1d,φ2d, and the Residual oscillations loaded can be eliminated quickly.And non-linear composite control method is utilized, it sunpender and hangs
Rope moves back and forth near target location, and there are apparent position error, reduces control efficiency and increase system energy
Consumption.In addition to this, hunting of load amplitude is larger, and there are apparent Residual oscillations, 12s or so can reach Complete Convergence.
In conclusion comparing control methods, the method for the present invention can obtain preferable control effect in finite time, and
Effectively eliminate the Residual oscillations of load.
Beneficial effects of the present invention：
1, position control method, apparatus and system in a kind of drive lacking marine hoist finite time of the present invention,
In the case of sea wave disturbance, realizes the effective control loaded to marine hoist, sunpender and lifting rope can be driven in finite time
Designated position is reached, and quickly eliminates the Residual oscillations of load.
2, position control method, apparatus and system in a kind of drive lacking marine hoist finite time of the present invention, will
Sliding formwork surface construction controller is introduced with the relevant nonlinear bounded function of positioning error signal, and then ensures that sunpender and lifting rope are having
Interior arrival designated position in limited time.
3, position control method, apparatus and system in a kind of drive lacking marine hoist finite time of the present invention,
Introducing and the relevant nonlinear terms of hunting of load angular speed, can further increase the pendulosity energy that disappears, obtain making us full in controller
The control effect of meaning.
4, position control method, apparatus and system in a kind of drive lacking marine hoist finite time of the present invention, and
Marine hoist system dynamics equation need not be linearized or ignore certain nonlinear terms, even if system is disturbed by the external world
It is dynamic, state variable all far from equalization point when can also realize preferable control effect, be expected to be applied to practical large-scale marine hoist system
In system, have important practical significance.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application.For the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.Therefore, the present invention is not intended to be limited to this
These embodiments shown in text, and it is to fit to widest range consistent with the principles and novel features disclosed in this article.
Claims (10)
1. position control method in a kind of drive lacking marine hoist finite time, which is characterized in that this method includes：
Step (1)：Based on marine hoist system can drive part kinetic model construction Second Order Sliding Mode face, and introduce and positioning
The relevant nonlinear bounded function of error signal constructs gamma controller；
Step (2)：Receive the physical parameter of the marine hoist system of setting；
Step (3)：It receives the sunpender pitch angle acquired in real time, lifting rope length, load hull cross caused by pivot angle and sea wave disturbance
Roll angle；
Step (4)：By the data of reception by carried gamma controller, control sunpender pitching movement and lifting rope length are calculated
Input power and torque；
Step (5)：Driving sunpender and lifting rope are moved to target location in finite time, and can eliminate the remaining pendulum of load
It is dynamic.
2. the method as described in claim 1, which is characterized in that in the step (1), the marine hoist system can driving portion
Point kinetic model be based on Lagrangian method establish about sunpender pitch angle and its corresponding angular speed and angular acceleration,
Lifting rope length and its corresponding speed and acceleration, load pivot angle and its corresponding angular speed and angular acceleration, hull roll fortune
Disturbance caused by dynamic and the nonlinear dynamical equation for acting on the driving force and torque on sunpender and lifting rope.
3. the method as described in claim 1, which is characterized in that the specific step of structure gamma controller in the step (1)
Suddenly include：
Step (1-1)：Define the control targe under earth coordinates；The control targe includes adjusting to be supported in finite time
It reaches its target location and quickly eliminates the Residual oscillations of load；
Step (1-2)：Define vector sum positioning error signal to be controlled；The vector to be controlled is the system state amount after coordinate transform
The transposed vector of composition；The positioning error signal is the difference of vector and its desired value to be controlled；
Step (1-3)：According to the control targe of definition, vector sum positioning error signal to be controlled, can be driven based on marine hoist system
The kinetic model construction Second Order Sliding Mode face of dynamic part, and introduce and constructed with the relevant nonlinear bounded function of positioning error signal
Gamma controller.
4. method as claimed in claim 3, which is characterized in that in the step (1-2), the desired value of system state amount is profit
The mesh of system state amount after the coordinate transform being calculated with coordinate transform and in conjunction with the target location in step (1-1)
Scale value.
5. method as claimed in claim 3, which is characterized in that in the step (1-3), the gamma controller be about
Second Order Sliding Mode face, the system state amount after transformation and its derivative, one with the relevant nonlinear bounded function of positioning error signal
The function of order derivative, second dervative.
6. the method as described in claim 1, which is characterized in that this method further includes carrying out base to marine hoist system balancing point
In the stability analysis of liapunov's method.
7. a kind of computer readable storage medium, wherein being stored with a plurality of instruction, which is characterized in that described instruction can be set by terminal
Standby processor loads and executes the method according to any one of claim 1-6.
8. position control device in a kind of drive lacking marine hoist finite time, including processor and computer-readable storage medium
Matter, processor is for realizing each instruction；Computer readable storage medium is for storing a plurality of instruction, which is characterized in that the finger
It enables for executing the method according to any one of claim 1-6.
9. positioning control system in a kind of drive lacking marine hoist finite time, which is based on any one of claim 1-8 institutes
The method stated, which is characterized in that the system includes：Sequentially connected data acquisition device, drive lacking marine hoist finite time
Interior position control device and marine hoist drive system；
The data acquisition device, caused by acquiring sunpender pitch angle, lifting rope length, load pivot angle and sea wave disturbance in real time
Hull roll angle, and it is transmitted to position control device in drive lacking marine hoist finite time；
Position control device in the drive lacking marine hoist finite time, the physics of the marine hoist system for receiving setting
Parameter；It receives the sunpender pitch angle acquired in real time, lifting rope length, load hull roll angle caused by pivot angle and sea wave disturbance；It will
The data of reception by the gamma controller that constructs meticulously, calculate control sunpender pitching movement and lifting rope length input power and
Torque, and it is transmitted to marine hoist drive system；
The marine hoist drive system, input power and torque for receiving control sunpender pitching movement and lifting rope length, and
It is moved to target location in finite time based on this driving sunpender and lifting rope, and the Residual oscillations of load can be eliminated.
10. system as claimed in claim 9, which is characterized in that the data acquisition device includes being fixed on servo motor
Encoder and independent angular transducer.
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| CN110937510A (en) * | 2019-12-10 | 2020-03-31 | 山东大学 | Offshore crane stability control method and system with double-pendulum characteristic |
| CN113110051A (en) * | 2021-04-14 | 2021-07-13 | 南开大学 | Polishing machine manpower/position hybrid control method and system considering error constraint |
| CN116336981A (en) * | 2023-01-29 | 2023-06-27 | 深圳大学 | Underwater coarse positioning method and system for immersed tube joint |
| CN117826607A (en) * | 2024-01-05 | 2024-04-05 | 上海驭矩信息科技有限公司 | Strict safety model prediction control method and system for under-actuated bridge crane |
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| CN113110051B (en) * | 2021-04-14 | 2022-03-04 | 南开大学 | Polishing machine manpower/position hybrid control method and system considering error constraint |
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