CN113281991A - Bridge crane anti-swing control method based on equivalent input interference and repetitive control principle - Google Patents
Bridge crane anti-swing control method based on equivalent input interference and repetitive control principle Download PDFInfo
- Publication number
- CN113281991A CN113281991A CN202110603682.5A CN202110603682A CN113281991A CN 113281991 A CN113281991 A CN 113281991A CN 202110603682 A CN202110603682 A CN 202110603682A CN 113281991 A CN113281991 A CN 113281991A
- Authority
- CN
- China
- Prior art keywords
- crane
- interference
- equivalent input
- following
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000003252 repetitive effect Effects 0.000 title claims abstract description 24
- 230000000737 periodic effect Effects 0.000 claims abstract description 19
- 230000009466 transformation Effects 0.000 claims abstract description 11
- 238000013461 design Methods 0.000 claims abstract description 6
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 210000001161 mammalian embryo Anatomy 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 10
- 239000011159 matrix material Substances 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 9
- 239000000126 substance Substances 0.000 claims description 6
- 230000001629 suppression Effects 0.000 claims description 3
- 238000011426 transformation method Methods 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 abstract description 4
- 238000004088 simulation Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000013178 mathematical model Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a bridge crane anti-swing control method based on equivalent input interference and a repetitive control principle, which comprises the following steps of 1: simplifying a crane system by utilizing the coordinate transformation principle of the same embryo; step 2: designing an anti-shaking control system principle; and step 3: designing a state observer; and 4, step 4: designing an equivalent input interference estimator; and 5: a repetitive controller is designed. The invention provides a controller design idea based on equivalent input interference, and the crane system can be ensured to realize global stable control only by trolley displacement information. Because the reference track of the horizontal movement of the crane can be regarded as a periodic signal of acceleration, uniform speed and deceleration, the tracking precision can be greatly improved by adopting a repeated control principle, and the influence of external periodic interference on the control precision can be effectively inhibited. Compared with the traditional PID control method, the method has better adaptability and robustness, can realize high-precision positioning of the crane and anti-shaking of the crane at the same time, and greatly improves the working efficiency and safety of the crane.
Description
Technical Field
The invention relates to the field of crane anti-swing control, in particular to a bridge crane anti-swing control method based on equivalent input interference and a repetitive control principle.
Background
The states of the under-actuated systems are mutually coupled or are accompanied by incomplete constraint, the under-actuated systems can swing, and the swing angle is non-actuated and is difficult to control, so that the under-actuated system is taken as a typical under-actuated crane, namely the anti-swing of an under-actuated bridge crane, and is a research hotspot at present. For a two-dimensional bridge crane system, the variables to be controlled are the horizontal displacement and the load swing angle of the crane, and the controlled variable is the driving force acting on the crane, so how to restrain and eliminate the load swing can be realized only by reasonably controlling the motion track of the crane. Like other systems, the control modes of the crane can be divided into open-loop control and closed-loop control, and representative methods of the open-loop control include input shaping, offline trajectory planning and the like. However, the control accuracy of the open-loop control method depends excessively on the natural frequency of the crane (related to the length of the lifting rope), and off-line planning cannot cope with external random interference, so that the robustness is poor, and the practical application effect is poor. Therefore, many scholars have proposed a series of closed-loop control methods, including dual closed-loop PID control, finite-time control, partial feedback linearization, saturation control, sliding-mode control, and so on. Most of the methods are designed and analyzed by neglecting important nonlinear part mathematical models of the crane and only based on the accurate linear part mathematical models of the known bridge crane system, so that the method has poor effect in practical application. Similarly, when some research results are applied to a crane system, some relatively rigorous assumptions must be provided or the working environment is ideal, and although such a control method can better ensure that the crane trajectory is stabilized on a certain trajectory, the control force changes violently or the robustness is poor, the crane trajectory is easily interfered by the outside, and the tracking accuracy is low.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a bridge crane anti-swing control method based on equivalent input interference and a repetitive control principle, which is used for solving the problems of violent control force change, poor robustness, easy external interference and low tracking precision in the prior art.
In order to achieve the above purpose, the technical solution for solving the technical problem is as follows:
an anti-swing control method of a bridge crane based on equivalent input interference and a repeated control principle comprises the following steps:
step 1: simplifying a crane system by utilizing the coordinate transformation principle of the same embryo;
step 2: designing an anti-shaking control system principle;
and step 3: designing a state observer;
and 4, step 4: designing an equivalent input interference estimator;
and 5: a repetitive controller is designed.
Further, step 1 comprises the following:
assuming that the hoisting rope length l is constant during the whole transportation process and the friction mu between the crane and the platform is very small or even negligible, i.e. the hoisting rope length l is constant
And mu is 0, selecting a horizontal position x of the crane and a swing angle theta of the load relative to the vertical direction as system state variables, and establishing a system model by adopting a Lagrange method to obtain the following state space equation:
wherein, M and M are crane weight and hoisting weight, l is lifting rope length, and F is system's drive power, order:
m11＝ml2，m12＝mlcosθ，m21＝mlcosθ，m22＝M+m
G1＝mgl sinθ，G2＝0
wherein the content of the first and second substances,
is the inertial matrix of the system;
will be provided with
As input to the system, it is designed to drive the state quantity part
Linearization is realized, so that the following transformation is introduced by adopting a homoembryo coordinate transformation method:
simultaneous (1) and (2) gives:
that is to say that the first and second electrodes,
in order to ensure the simplicity of the system structure and the easiness in controller design after transformation, the selection of the function alpha (·) is very important, and for a two-degree-of-freedom under-actuated bridge crane system, the following selections are adopted:
α(θ)＝0 (5)
order:
σ＝Φ(z)＝f(z)-Az (6)
the system state space equation (1) is transformed into the following state space equation after being transformed by the homomorphic coordinates:
wherein:
further, step 2 comprises the following steps:
in order to realize the anti-rolling and positioning problems of the under-actuated bridge crane, the disturbance sigma is obtained by an equivalent disturbance estimatoreEquivalent interference estimate of
The following control law is adopted to realize interference suppression:
wherein the content of the first and second substances,
is the output of the estimator, and thus, as shown in equation (9), by
Introducing control input end in negative feedback mode to eliminate disturbance sigmaeIt can be seen that the disturbance rejection performance depends on the accuracy of the equivalent input interference estimator.
Further, step 3 comprises the following steps:
the state observer adopts a high-gain observer, can accurately obtain an equivalent interference estimation value for compensating the influence of virtual disturbance on the system, and the analysis shows that if the system can be observed, the Riccati matrix equation (10) has a displacement positive solution S ═ ST＞0；
AS+SAT-SCTRL -1CS+ρQL＝0 (10)
Wherein Q isL＝QL T≥0，RL＝RL TAnd more than or equal to 0 is a weighting matrix, rho is more than 0 and is a positive number, and the observer gain L is designed as follows:
further, step 4 includes the following:
in view of the equivalent input interference σeIs difficult to obtain, so the full-dimensional state observer is designed to estimate the equivalent interference sigmaeReal-time value of (c):
wherein u isf＝u+σeL is observer gain;
get it at this moment
Has the value of the equivalent input interference sigmaeEstimate of where B+＝(BTB)-1BT；
In addition, in order to ensure the accuracy of the equivalent input interference prediction value, the estimated frequency band needs to be adjusted by a low-pass filter f(s):
wherein T is a time constant,
ωris the maximum angular frequency required to track or reject the periodic signal.
Further, step 5 comprises the following steps:
the repetitive control system based on equivalent input disturbances is stable if the following conditions are simultaneously fulfilled:
(1) g1(s) and f(s) are stable;
(2)||G1(s)F(s)||∞＜1；
(3) there is no pole-zero cancellation between the feedback compensator kd(s) and the control object p(s);
(4)[1+G(s)]-1g(s) and q(s) are stable;
(5)||q(s)[1+G(s)]-1||∞＜1；
the PID feedback compensator is selected by designing the feedback compensator so that the conditions (3) and (4) in the determination are satisfied, has a simple structure, can ensure the stability of a closed loop system, and has the following amplitude characteristics due to the fact that the low-pass filter makes the condition (5) in the determination satisfied:
wherein, ω isrIs the maximum angular frequency required to track or reject the periodic signal.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
the invention provides a bridge crane anti-swing control algorithm based on equivalent input interference and a repetitive control principle, which separates a linear part from a nonlinear part of a system by utilizing homomorphic coordinate transformation and reduces the design difficulty of the control system. And a controller design idea based on equivalent input interference is provided, and the crane system can be ensured to realize global stable control only by trolley displacement information. Because the reference track of the horizontal movement of the crane can be regarded as a periodic signal of acceleration, uniform speed and deceleration, the tracking precision can be greatly improved by adopting a repeated control principle, and the influence of external periodic interference on the control precision can be effectively inhibited. Compared with the traditional PID control method, the bridge crane anti-swing strategy based on equivalent input interference and a repetitive control principle has better adaptability and robustness, can realize high-precision positioning of the crane and crane anti-swing, and greatly improves the working efficiency and safety of the crane.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
PID and its improved algorithm are the main methods currently applied to resist shaking. The repetitive control method is the best method applied to periodic interference resistance at present. Thus, the control algorithm proposed herein based on the equivalent input disturbance and repetitive control principle is compared to the classical dual closed-loop pid (pid) in the following cases:
simulation one: pdx＝7m，tf＝30s；
Simulation II: pdx＝14m，tf＝30s；
And (3) simulation: pdx＝14m，tf＝60s；
And (4) simulation: adding a periodic external disturbance when ts is 15 seconds;
and (5) simulation: and adding a periodic external disturbance when ts is 35 seconds.
In the drawings:
FIG. 1 is a two-dimensional plane physical model diagram of an under-actuated crane according to the present invention;
FIG. 2 is a structural control diagram of the present invention based on the principle of equivalent input interference and repetitive control;
FIG. 3 is an equivalent control series system diagram of the control system of FIG. 1;
FIG. 4 shows the present invention at Pdx＝7m，tfA simulation result graph under the condition of 30 s;
FIG. 5 shows the present invention at Pdx＝14m，tfA simulation result graph under the condition of 30 s;
FIG. 6 is a graph of simulation results under conditions of the present invention;
FIG. 7 shows the present invention at tsAdding a periodic external disturbance diagram as 15;
FIG. 8 shows the present invention at tsAdd 35 periodic external perturbation map.
Detailed Description
While the embodiments of the present invention will be described and illustrated in detail with reference to the accompanying drawings, it is to be understood that the invention is not limited to the specific embodiments disclosed, but is intended to cover various modifications, equivalents, and alternatives falling within the scope of the invention as defined by the appended claims.
In this embodiment, the overall structure of a bridge crane includes two parts: a trolley operating mechanism and a hoisting mechanism. The trolley running mechanism can be divided into a large trolley and a small trolley. The tracks of the small car and the big car are mutually vertical. The trolley is responsible for translating the entire bridge crane along the overhead rails on both sides of the production line. The load lifting mechanism is responsible for the translation on the bridge and the lifting motion of the load. According to crane industry specifications, a complete crane operation generally comprises the following three steps:
1) hoisting: hoisting the goods to a specified height;
2) horizontal conveying process: the load is transported to the position above the target position through the trolley;
3) the falling process: the load drops vertically to the target position.
Generally, the above three steps are completed sequentially. It can be seen that the swinging of the load is mainly caused by the acceleration and deceleration of the trolley, without taking into account external disturbances. During the lifting and landing process, the trolley is not moved. In the two operations, the load does not swing obviously, but the working efficiency of the crane is affected. In order to increase the efficiency of the crane, it is necessary to integrate the hoisting and unloading process into the transport process. This may reduce the anti-sway waiting time of the cargo before transportation or landing. Therefore, the lifting process is integrated into the transportation process, the working efficiency of the crane can be greatly improved, and safety accidents can be effectively avoided.
Specifically, a bridge system mathematical model can be established through a mechanism, and then the bridge crane system is subjected to performance-driven model-based predictive control through matlab and simulink simulation.
In this example, a bridge crane is generally composed of a wire, a load and a trolley. The corresponding two-dimensional simplified physical model is shown in figure 1.
As shown in fig. 2 and 3, the present embodiment discloses a method for controlling the anti-rolling of a bridge crane based on equivalent input interference and repetitive control principle, comprising the following steps:
step 1: simplifying a crane system by utilizing the coordinate transformation principle of the same embryo;
step 2: designing an anti-shaking control system principle;
and step 3: designing a state observer;
and 4, step 4: designing an equivalent input interference estimator;
and 5: a repetitive controller is designed.
Further, step 1 comprises the following:
assuming that the hoisting rope length l is constant during the whole transportation process and the friction mu between the crane and the platform is very small or even negligible, i.e. the hoisting rope length l is constant
And mu is 0, selecting a horizontal position x of the crane and a swing angle theta of the load relative to the vertical direction as system state variables, and establishing a system model by adopting a Lagrange method to obtain the following state space equation:
wherein, M and M are crane weight and hoisting weight, theta is the direction angle of vertical load, g is acceleration of gravity, l is lifting rope length, F is system driving force, order:
m11＝ml2，m12＝ml cosθ，m21＝ml cosθ，m22＝M+m
G1＝mgl sinθ，G2＝0
wherein the content of the first and second substances,
is the inertial matrix of the system;
will be provided with
As input to the system, it is designed to drive the state quantity part
Linearization is realized, so that the following transformation is introduced by adopting a homoembryo coordinate transformation method:
simultaneous (1) and (2) gives:
that is to say that the first and second electrodes,
in order to ensure the simplicity of the system structure and the easiness in controller design after transformation, the selection of the function alpha (·) is very important, and for a two-degree-of-freedom under-actuated bridge crane system, the following selections are adopted:
α(θ)＝0 (5)
order:
σ＝Φ(z)＝f(z)-Az (6)
the system state space equation (1) is transformed into the following state space equation after being transformed by the homomorphic coordinates:
wherein:
further, step 2 comprises the following steps:
in order to realize the anti-rolling and positioning problems of the under-actuated bridge crane, the disturbance sigma is obtained by an equivalent disturbance estimatoreEquivalent interference estimate of
The following control law is adopted to realize interference suppression:
wherein the content of the first and second substances,
is the output of the estimator, and thus, as shown in equation (9), by
Introducing control input end in negative feedback mode to eliminate disturbance sigmaeIt can be seen that the disturbance rejection performance depends on the accuracy of the equivalent input interference estimator.
Further, step 3 comprises the following steps:
the state observer adopts a high-gain observer, can accurately obtain an equivalent interference estimation value for compensating the influence of virtual disturbance on the system, and the analysis shows that if the system can be observed, the Riccati matrix equation (10) has a displacement positive solution S ═ ST＞0；
AS+SAT-SCTRL -1CS+ρQL＝0 (10)
Wherein Q isL＝QL T≥0，RL＝RL TAnd more than or equal to 0 is a weighting matrix, rho is more than 0 and is a positive number, and the observer gain L is designed as follows:
further, step 4 includes the following:
in view of the equivalent input interference σeIs difficult to obtain, so the full-dimensional state observer is designed to estimate the equivalent interference sigmaeReal-time value of (c):
wherein u isf＝u+σeL is observer gain;
get it at this moment
Has the value of the equivalent input interference sigmaeEstimate of where B+＝(BTB)-1BT；
Furthermore, in order to guarantee the accuracy of the equivalent input interference prediction value, the estimated frequency band needs to be adjusted by a low-pass filter) V:
wherein T is a time constant,
ωris the maximum angular frequency required to track or reject the periodic signal.
Further, step 5 comprises the following steps:
the repetitive control system based on equivalent input disturbances is stable if the following conditions are simultaneously fulfilled:
(1) g1(s) and f(s) are stable;
(2)||G1(s)F(s)||∞＜1；
(3) there is no pole-zero cancellation between the feedback compensator kd(s) and the control object p(s);
(4)[1+G(s)]-1g(s) and q(s) are stable;
(5)||q(s)[1+G(s)]-1||∞＜1；
by designing the feedback compensator so that the neutral conditions (3) and (4) are satisfied, the PID or lead-lag compensator can be selected, and the PID feedback compensator is selected in the present embodiment, which has a simple structure and can ensure the stability of the closed loop system, and the low-pass filter should satisfy the neutral condition (5) and has the following amplitude characteristics:
wherein, ω isrIs the maximum angular frequency required to track or reject the periodic signal.
As can be seen from fig. 4 and 5 and fig. 6, when the crane moves horizontally, the swing angle is always within 1 degree, and the crane can reach the target site within the desired time tf, and the swing angle finally almost decays to 0. Under the same simulation conditions as those in fig. 4-6, a periodic external disturbance is added, the PID algorithm is compared with the algorithm adopted herein, and the effectiveness of the designed control algorithm in suppressing the periodic external disturbance is verified, and a periodic external disturbance is added when ts is 15 seconds: simulation analysis: as can be seen from fig. 7 and 8, the control method designed herein can effectively suppress periodic external disturbance, and the algorithm robustness based on the equivalent input interference and repetitive control principle is obviously superior to that of the conventional PID algorithm. In practical application, the experimental results of different methods are compared, so that the scheme is the safe and efficient optimal scheme.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. An anti-swing control method of a bridge crane based on equivalent input interference and a repeated control principle is characterized by comprising the following steps:
step 1: simplifying a crane system by utilizing the coordinate transformation principle of the same embryo;
step 2: designing an anti-shaking control system principle;
and step 3: designing a state observer;
and 4, step 4: designing an equivalent input interference estimator;
and 5: a repetitive controller is designed.
2. The method for controlling the anti-rolling of the bridge crane based on the equivalent input interference and the repetitive control principle as claimed in claim 1, wherein the step 1 comprises the following steps:
assuming that the hoisting rope length l is constant during the whole transportation process and the friction mu between the crane and the platform is very small or even negligible, i.e. the hoisting rope length l is constant
And mu is 0, selecting a horizontal position x of the crane and a swing angle theta of the load relative to the vertical direction as system state variables, and establishing a system model by adopting a Lagrange method to obtain the following state space equation:
wherein, M and M are crane weight and hoisting weight, l is lifting rope length, and F is system's drive power, order:
m11＝ml2，m12＝mlcosθ，m21＝mlcosθ，m22＝M+m
G1＝mglsinθ，G2＝0
wherein the content of the first and second substances,
is the inertial matrix of the system;
will be provided with
As input to the system, it is designed to drive the state quantity part
Linearization is realized, so that the following transformation is introduced by adopting a homoembryo coordinate transformation method:
simultaneous (1) and (2) gives:
that is to say that the first and second electrodes,
in order to ensure the simplicity of the system structure and the easiness in controller design after transformation, the selection of the function alpha (·) is very important, and for a two-degree-of-freedom under-actuated bridge crane system, the following selections are adopted:
α(θ)＝0 (5)
order:
σ＝Φ(z)＝f(z)-Az (6)
the system state space equation (1) is transformed into the following state space equation after being transformed by the homomorphic coordinates:
wherein:
3. the method for controlling the anti-rolling of the bridge crane based on the equivalent input interference and the repetitive control principle as claimed in claim 1, wherein the step 2 comprises the following steps:
in order to realize the anti-rolling and positioning problems of the under-actuated bridge crane, the disturbance sigma is obtained by an equivalent disturbance estimatoreEquivalent interference estimate of
The following control law is adopted to realize interference suppression:
wherein the content of the first and second substances,
is the output of the estimator, and thus, as shown in equation (9), by
Introducing control input end in negative feedback mode to eliminate disturbance sigmaeIt can be seen that the disturbance rejection performance depends on the accuracy of the equivalent input interference estimator.
4. The method for controlling the anti-rolling of the bridge crane based on the equivalent input interference and the repetitive control principle as claimed in claim 1, wherein the step 3 comprises the following steps:
the state observer adopts a high-gain observer, can accurately obtain an equivalent interference estimation value for compensating the influence of virtual disturbance on the system, and the analysis shows that if the system can be observed, the Riccati matrix equation (10) has a displacement positive solution S ═ ST＞0；
AS+SAT-SCTRL -1CS+ρQL＝0 (10)
Wherein Q isL＝QL T≥0，RL＝RL TAnd more than or equal to 0 is a weighting matrix, rho is more than 0 and is a positive number, and the observer gain L is designed as follows:
5. the method for controlling the anti-rolling of the bridge crane based on the equivalent input interference and the repetitive control principle as claimed in claim 1, wherein the step 4 comprises the following steps:
in view of the equivalent input interference σeIs difficult to obtain, so the full-dimensional state observer is designed to estimate the equivalent interference sigmaeReal-time value of (c):
wherein u isf＝u+σeL is observer gain;
get it at this moment
Has the value of the equivalent input interference sigmaeEstimate of where B+＝(BTB)-1BT；
In addition, in order to ensure the accuracy of the equivalent input interference prediction value, the estimated frequency band needs to be adjusted by a low-pass filter f(s):
wherein T is a time constant,
ωris the maximum angular frequency required to track or reject the periodic signal.
6. The method for controlling the anti-rolling of the bridge crane based on the equivalent input interference and the repetitive control principle as claimed in claim 1, wherein the step 5 comprises the following steps:
the repetitive control system based on equivalent input disturbances is stable if the following conditions are simultaneously fulfilled:
(1) g1(s) and f(s) are stable;
(2)||G1(s)F(s)||∞＜1；
(3) there is no pole-zero cancellation between the feedback compensator kd(s) and the control object p(s);
(4)[1+G(s)]-1g(s) and q(s) are stable;
(5)||q(s)[1+G(s)]-1||∞＜1；
the PID feedback compensator is selected by designing the feedback compensator so that the conditions (3) and (4) in the determination are satisfied, has a simple structure, can ensure the stability of a closed loop system, and has the following amplitude characteristics due to the fact that the low-pass filter makes the condition (5) in the determination satisfied:
wherein, ω isrIs the maximum angular frequency required to track or reject the periodic signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110603682.5A CN113281991A (en) | 2021-05-31 | 2021-05-31 | Bridge crane anti-swing control method based on equivalent input interference and repetitive control principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110603682.5A CN113281991A (en) | 2021-05-31 | 2021-05-31 | Bridge crane anti-swing control method based on equivalent input interference and repetitive control principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113281991A true CN113281991A (en) | 2021-08-20 |
Family
ID=77282767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110603682.5A Pending CN113281991A (en) | 2021-05-31 | 2021-05-31 | Bridge crane anti-swing control method based on equivalent input interference and repetitive control principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113281991A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113671833A (en) * | 2021-08-22 | 2021-11-19 | 北京工业大学 | Coordination design method and system for uncertain repetitive control system |
| CN114567223A (en) * | 2022-04-28 | 2022-05-31 | 成都国营锦江机器厂 | Position tracking method based on repeated supercoiled observer and supercoiled control |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549229A (en) * | 2018-04-20 | 2018-09-18 | 曲阜师范大学 | A kind of overhead crane neural network adaptive controller and its design method |
-
2021
- 2021-05-31 CN CN202110603682.5A patent/CN113281991A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549229A (en) * | 2018-04-20 | 2018-09-18 | 曲阜师范大学 | A kind of overhead crane neural network adaptive controller and its design method |
Non-Patent Citations (4)
| Title |
|---|
| MA XIANGHUA,ET AL.: "An Anti-Swing Closed-Loop Control Strategy for Overhead Cranes", 《APPLIED SCIENCE》, 25 August 2018 (2018-08-25), pages 2 - 3 * |
| 包晗秋 等: "欠驱动吊车系统全局稳定控制策略", 《计算机集成制造系统》, vol. 25, no. 10, 31 October 2019 (2019-10-31) * |
| 包晗秋: "欠驱动桥式吊车智能防摇控制策略的研究", 《CNKI中国优秀硕士学位论文全文数据库（电子期刊）工程科技II辑》, 15 February 2020 (2020-02-15), pages 2 - 2 * |
| 徐宝岗: "基于等价输入干扰的重复控制系统设计", 《CNKI中国优秀硕士学位论文全文数据库（电子期刊）信息科技辑》, 28 February 2013 (2013-02-28), pages 2 - 2 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113671833A (en) * | 2021-08-22 | 2021-11-19 | 北京工业大学 | Coordination design method and system for uncertain repetitive control system |
| CN113671833B (en) * | 2021-08-22 | 2024-01-05 | 北京工业大学 | Coordinated design method and system for uncertain repetitive control system |
| CN114567223A (en) * | 2022-04-28 | 2022-05-31 | 成都国营锦江机器厂 | Position tracking method based on repeated supercoiled observer and supercoiled control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108358062B (en) | Drive lacking overhead crane global stability control method | |
| Masoud et al. | Sway reduction on container cranes using delayed feedback controller | |
| Hong et al. | Command shaping control for limiting the transient sway angle of crane systems | |
| CN113281991A (en) | Bridge crane anti-swing control method based on equivalent input interference and repetitive control principle | |
| JP4574609B2 (en) | Transport method by overhead crane using laser pointer and overhead crane system | |
| CN104444817A (en) | Self-adaption anti-swing positioning control method of under-actuated crane | |
| US11708248B2 (en) | LQR-based anti-sway control method and system for lifting system | |
| CN108875253A (en) | The terminal sliding mode of drive lacking crane system based on interference observer, which disappears, puts control method and system | |
| CN110407094B (en) | Bridge crane positioning anti-swing control method based on dynamic smooth track | |
| CN111176318A (en) | Positioning and swing eliminating method and system for flying handling system for eliminating steady-state error | |
| Li et al. | Time-polynomial-based optimal trajectory planning for double-pendulum tower crane with full-state constraints and obstacle avoidance | |
| Tysse et al. | Crane load position control using Lyapunov-based pendulum damping and nonlinear MPC position control | |
| Zhai et al. | Observer-based adaptive fuzzy control of underactuated offshore cranes for cargo stabilization with respect to ship decks | |
| CN117466145A (en) | Bridge portal crane anti-swing control method and device based on deep reinforcement learning | |
| CN113321122A (en) | Layered nonsingular terminal sliding mode control method for double-pendulum system of crane | |
| CN116239022A (en) | Bridge crane positioning anti-swing model-free self-adaptive control method | |
| CN110488604A (en) | A kind of bridge crane robust control method for the pendulum positioning that disappears | |
| Dong et al. | Research on Anti-swing of Container Gantry Crane as Hierarchical Sliding Mode Control | |
| CN115657472B (en) | Feedback control method and system for tower crane system | |
| CN116661315A (en) | Swing-preventing control method for two-stage swing of lifting unmanned aerial vehicle | |
| CN115947232A (en) | Bridge crane double-ring anti-swing control method | |
| CN113044714B (en) | Open-loop optimization anti-swing control method and system for double-swing system of crane | |
| CN117105096B (en) | Sliding mode control method suitable for rope-length-variable double-swing type ship crane | |
| CN115043318B (en) | Bridge crane anti-sway method and system based on track planning of speed limit area | |
| CN118068702A (en) | Vibration suppression control method for rigid-flexible coupling crane arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210820 |
|
| RJ01 | Rejection of invention patent application after publication |