CN113879970A - Energy coupling-based anti-swing positioning segmented control method for bridge crane - Google Patents

Energy coupling-based anti-swing positioning segmented control method for bridge crane Download PDF

Info

Publication number
CN113879970A
CN113879970A CN202111051773.9A CN202111051773A CN113879970A CN 113879970 A CN113879970 A CN 113879970A CN 202111051773 A CN202111051773 A CN 202111051773A CN 113879970 A CN113879970 A CN 113879970A
Authority
CN
China
Prior art keywords
control
swing
bridge crane
energy
trolley
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.)
Granted
Application number
CN202111051773.9A
Other languages
Chinese (zh)
Other versions
CN113879970B (en
Inventor
范波
谷帅辉
赵政鑫
付主木
孙力帆
陶发展
许惠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Henan University of Science and Technology
Original Assignee
Henan University of Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Henan University of Science and Technology filed Critical Henan University of Science and Technology
Priority to CN202111051773.9A priority Critical patent/CN113879970B/en
Publication of CN113879970A publication Critical patent/CN113879970A/en
Application granted granted Critical
Publication of CN113879970B publication Critical patent/CN113879970B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/15—Correlation function computation including computation of convolution operations

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computational Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Data Mining & Analysis (AREA)
  • Mathematical Physics (AREA)
  • Algebra (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention provides an energy coupling-based bridge crane anti-swing positioning sectional control method, which aims at the problems that the traditional energy control of an occasion with high anti-swing requirements cannot meet the requirements and the problems that the traditional energy coupling control can not meet the requirements and the buffeting and the response speed are low in the traditional energy coupling control bridge crane positioning and anti-swing control. Comparing the present invention with the enhanced coupling control and the energy coupling control, the results are shown in fig. 2 to 9. The method can effectively restrain the load swing angle in the running process of the bridge crane, realize accurate positioning of the trolley, improve the anti-swing performance and eliminate the residual swing of the load.

Description

Energy coupling-based anti-swing positioning segmented control method for bridge crane
Technical Field
The invention belongs to the technical field of bridge crane control, and particularly relates to an energy coupling-based anti-swing positioning sectional control method for a bridge crane.
Background
The bridge crane is used as an important short-distance field hoisting and transporting machine, is widely applied to the fields of workshop cargo handling, warehouse scheduling, manufacturing and assembling and the like, and plays an important role in national economic construction. In the transportation process of the bridge crane, the transportation efficiency of the bridge crane is reduced due to the load swing caused by the acceleration change of the trolley, and the safety production operation is greatly influenced along with the potential safety hazard. Therefore, the anti-swing performance of the bridge crane must be continuously improved and optimized to meet the requirements of high-speed, safe and stable production and construction.
At present, the bridge crane is operated manually by depending on experience, namely, a crane driver accumulates the experience of crane operation and gradually knows the performance condition of equipment and the operating environment, and finally the fixed-point delivery of goods and the anti-swing of the goods are realized. The manual operation needs long-term exploration and practice of workers, if equipment replacement or personnel movement occurs, the workers need to accumulate experience again, and the production efficiency is greatly influenced. And sometimes complex production environment can cause misoperation by misjudgment of workers, especially work in harsh weather and dangerous environment, such as ports, casting workshops, nuclear reactors and other places where people cannot get close to, the positioning requirement is met, meanwhile, the goods are required to swing as little as possible in the transportation process, the complex working condition has more rigorous requirement on operators, and the use difficulty of the bridge crane is improved.
Disclosure of Invention
In view of the above, the present invention provides an energy coupling-based anti-swing positioning and sectional control method for a bridge crane, so as to achieve fast and accurate positioning and smooth and efficient swing elimination during transportation of the bridge crane. The invention verifies and judges the quality of the control performance of the theoretical bridge crane control method, further applies the method to a bridge crane system, better replaces the experience operation of technical workers, continuously reduces the errors caused by human factors, solves the defect that the manual control method cannot deal with the harsh environment, and improves the operation efficiency and the stability.
In order to achieve the purpose, the invention adopts the technical scheme that: the control method is based on traditional sectional control, combines the sectional control with the energy coupling control, designs an energy function at the anti-swing stage, then combines the variable at the positioning stage with the energy function at the anti-swing stage to construct an energy storage function of the whole system, designs a control quantity u by utilizing the stability of Lyapunov, realizes the high-efficiency positioning anti-swing control of the bridge crane, and improves the response speed.
Further, the control method specifically comprises the following steps:
step one, determining a trolley position error and a load swing angle error based on a two-dimensional bridge crane mathematical model by combining the relationship between a trolley and a load in a two-dimensional coordinate system:
Figure BDA0003253220470000021
Figure BDA0003253220470000022
in the above formula, x (t) represents the current position of the trolley, theta (t) is the included angle between the lifting rope and the vertical direction and is the swing angle, and pdxIndicating a desired position of the trolley;
Figure BDA0003253220470000023
and representing a real number set, wherein the load swing angle theta (t) belongs to (-pi/2, pi/2), so that the cosine value of the swing angle can be ensured to be larger than zero, and conditions are provided for designing a controller.
Step two, defining energy functions of the anti-swing stage and the positioning stage as follows:
Figure BDA0003253220470000024
Figure BDA0003253220470000031
in the formula, kdDenotes a constant, k, greater than zeroxDenotes a constant less than zero, when theta (t) ∈ (-pi/2, pi/2)
Figure BDA0003253220470000032
The length l of the rope is more than or equal to 0, then
Figure BDA0003253220470000033
1. ltoreq. cos θ. ltoreq.1, then kdg(I-cosθ)≥0。
Step three, defining an energy storage function of the whole system by combining energy control and sectional control as follows:
V(t)＝V2(t)+V1(t)；
the energy coupling control and the segment control are combined to obtain the corresponding control rate, and the input of the controller can be obtained as follows:
Figure BDA0003253220470000034
in the formula, kdDenotes a constant, k, greater than zeroxDenotes a constant less than zero, pdxIndicating the desired position of the trolley.
Compared with the prior art, the invention has the beneficial effects that: aiming at the problems that the track is not smooth enough in the traditional energy control bridge crane positioning and anti-sway and the occasions with stricter requirements on anti-sway, the invention combines energy control and sectional control, and adjusts the magnitude of the control quantity u through the weight of the energy function in the anti-sway and positioning stages, thereby inventing an energy coupling based bridge crane anti-sway positioning sectional control method, which can reduce the sway angle of the bridge crane system in the operation process and enhance the robustness of the system.
Drawings
FIG. 1 is a schematic diagram of a power model of a bridge crane;
FIG. 2 is a graph of displacement variation for energy coupled segment control and conventional segment control;
FIG. 3 is an angle variation curve of an energy coupling segment control and a conventional segment control;
FIG. 4 shows a displacement variation curve for energy coupled segment control and load generalized regulation control;
FIG. 5 shows an angle variation curve for energy coupled segment control and load generalized regulation control;
FIG. 6 shows a displacement variation curve of the energy coupling segment control and the enhanced coupling control;
FIG. 7 is a graph of angle variation of energy coupled segment control versus enhancement coupled control;
FIG. 8 is a graph showing the change of displacement when interference is added in the energy coupling segment control;
FIG. 9 is an angle variation curve when interference is added by energy coupling segment control.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.
The invention provides an energy coupling-based bridge crane anti-swing positioning sectional control method which is based on a two-dimensional bridge crane mathematical model. The method comprises the following specific steps:
the method comprises the following steps of firstly, determining a trolley position error and a load swing angle error based on a two-dimensional bridge crane mathematical model and by combining the relation between a trolley and a load in a two-dimensional coordinate system.
The first step is as follows: the bridge crane generally keeps the rope length constant during operation, and a model schematic diagram of the fixed-rope-length bridge crane is shown in fig. 1, wherein in fig. 1: m and M represent the mass of the trolley and the load, respectively, the load comprises the mass of the hook, F represents the power, l represents the load mass center to the rope length of the trolley, and theta is the angle of the load swing. The mathematical model of the bridge crane is established according to the two-dimensional bridge crane model schematic diagram as follows:
Figure BDA0003253220470000051
Figure BDA0003253220470000052
changing (2) to the following form:
Figure BDA0003253220470000053
changing (1) to according to (3):
Figure BDA0003253220470000054
let m (theta) be a constant value,
Figure BDA0003253220470000055
the expression of (a) is as follows:
m(θ)＝M+msinθ2 (5)
Figure BDA0003253220470000056
equation (4) can be expressed as:
Figure BDA0003253220470000057
in equation (7), u represents a control input auxiliary item to be designed, and F represents a control input control amount. Connecting equations (3), (4) and (7) yields the following equivalent system:
Figure BDA0003253220470000058
the control objective becomes the design control input u so that the positioning error of the trolley converges progressively to zero while eliminating the load swing, i.e.:
Figure BDA0003253220470000061
in formula (9) pdxThe target position of the dolly is represented as a constant.
And step two, in order to reduce and eliminate load swing in the operation process of the bridge crane and enable the speed to be zero when the trolley reaches a specified position, the following energy storage function which is related to the swing angle and the speed is considered.
Figure BDA0003253220470000062
In formula (10), kdDenotes a constant, k, greater than zeroxDenotes a constant less than zero, when theta (t) ∈ (-pi/2, pi/2)
Figure BDA0003253220470000063
The length l of the rope is more than or equal to 0, then
Figure BDA0003253220470000064
1. ltoreq. cos θ. ltoreq.1, then kdg(1-cosθ)≥0。
In order to quickly reduce the swing when the load is in front of the trolley during operation of the bridge crane, the trolley should be decelerated. When the load is located at the rear of the trolleyIn order to reduce the swing angle quickly, the trolley should be accelerated, i.e. the acceleration of the swing trolley is eliminated quickly by the load, and the swing angle is kept opposite, so that
Figure BDA0003253220470000065
Thus, it is possible to provide
Figure BDA0003253220470000066
Moreover, since k isxV can be ensured to be less than or equal to 01(t)≥0 (11)
The derivation of equation (10) with respect to time can be found:
Figure BDA0003253220470000067
bringing formula (8) into formula (12) and finishing to obtain:
Figure BDA0003253220470000068
the following control strategy is defined in equation (13) based on the derived energy function:
Figure BDA0003253220470000071
such that:
Figure BDA0003253220470000072
v can be obtained by combining formula (11) and formula (15)1(t) is a non-increasing function and guarantees the system state
Figure BDA0003253220470000073
Is bounded. In summary, the control strategy u1(t) available to the System State variables
Figure BDA0003253220470000074
And (4) stabilization control.
In order to realize the control task of the bridge crane, the adjustment and control of the trolley displacement are required to be completed, and the trolley positioning is realized.
An appropriate Lyapunov function is constructed for equation (8), and the integrated control objective and state control strategy equation (14) introduces the following variables:
ξ＝x-kdsinθ+kx∫θdt-pdx (16)
the following non-negative function is introduced according to the variable ξ:
Figure BDA0003253220470000075
step three, the Lyapunov function of the whole system can be selected as follows:
Figure BDA0003253220470000076
the combination of formula (17) and formula (11) gives:
V(t)≥0 (19)
the derivation with respect to time can be found for both sides of equation (18):
Figure BDA0003253220470000077
formula (8) is taken into formula (20) and arranged to give:
Figure BDA0003253220470000081
the controller is then designed to:
Figure BDA0003253220470000082
the invention provides an energy coupling-based bridge crane anti-swing positioning sectional control method, aiming at solving the problems that the traditional energy control of the occasions with high anti-swing requirements cannot meet the requirements, and the problems that the traditional energy coupling control bridge crane positioning anti-swing is buffeting and slow in response speed, and increasing trolley acceleration and deceleration information on the basis of the traditional energy control and introducing a sectional control method to construct a Lyapunov function at the anti-swing stage by adding the trolley acceleration and deceleration information, and designing a controller by using a Lyapunov method. Comparing the present invention with the enhanced coupling control and the energy coupling control, the results are shown in fig. 2 to 9. The method is shown to be capable of effectively inhibiting the load swing angle in the running process of the bridge crane, realizing accurate positioning of the trolley, improving the anti-swing performance and eliminating the residual swing of the load; in contrast to the above control strategy, this method is somewhat longer than the enhanced coupling control and the energy coupling control in terms of positioning time. But the positioning is realized, the anti-swing performance of the bridge crane is improved, the effective suppression of the load swing and the elimination of the residual swing are realized, and a better control effect is shown. And the factors influencing the control performance are analyzed from the aspects of theory and simulation, and a reference is provided for the safe, rapid, accurate and stable transportation of goods by the automatic hoisting equipment.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (2)

1. An energy coupling-based anti-swing positioning segmented control method for a bridge crane is characterized by comprising the following steps of: the control method is based on traditional sectional control, combines the sectional control with energy coupling control, designs an energy function at an anti-swing stage, combines variables at a positioning stage with the energy function at the anti-swing stage to construct an energy storage function of an integral system, and designs a control quantity u by utilizing the stability of Lyapunov, so that the efficient positioning anti-swing control of the bridge crane is realized, and the response speed is improved.
2. The energy coupling-based anti-swing positioning segmented control method for the bridge crane, as recited in claim 1, wherein: the control method specifically comprises the following steps:
step one, determining a trolley position error and a load swing angle error based on a two-dimensional bridge crane mathematical model by combining the relationship between a trolley and a load in a two-dimensional coordinate system:
Figure FDA0003253220460000011
Figure FDA0003253220460000012
in the above formula, x (t) represents the current position of the trolley, theta (t) is the included angle between the lifting rope and the vertical direction and is the swing angle, and pdxIndicating a desired position of the trolley;
Figure FDA0003253220460000013
representing a real number set, wherein the load swing angle theta (t) belongs to (-pi/2, pi/2), so that the cosine value of the swing angle can be ensured to be larger than zero, and conditions are provided for designing a controller;
step two, defining energy functions of the anti-swing stage and the positioning stage as follows:
Figure FDA0003253220460000014
Figure FDA0003253220460000015
in the formula, kdDenotes a constant, k, greater than zeroxDenotes a constant less than zero, when theta (t) ∈ (-pi/2, pi/2)
Figure FDA0003253220460000016
The length l of the rope is more than or equal to 0, then
Figure FDA0003253220460000017
1. ltoreq. cos θ. ltoreq.1, then kdg(1-cosθ)≥0；
Step three, defining an energy storage function of the whole system by combining energy control and sectional control as follows:
V(t)＝V2(t)+V1(t)；
the energy coupling control and the segment control are combined to obtain the corresponding control rate, and the input of the controller can be obtained as follows:
Figure FDA0003253220460000021
in the formula, kdDenotes a constant, k, greater than zeroxDenotes a constant less than zero, pdxIndicating the desired position of the trolley.
CN202111051773.9A 2021-09-08 2021-09-08 Bridge crane anti-swing positioning segmented control method based on energy coupling Active CN113879970B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111051773.9A CN113879970B (en) 2021-09-08 2021-09-08 Bridge crane anti-swing positioning segmented control method based on energy coupling

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111051773.9A CN113879970B (en) 2021-09-08 2021-09-08 Bridge crane anti-swing positioning segmented control method based on energy coupling

Publications (2)

Publication Number Publication Date
CN113879970A true CN113879970A (en) 2022-01-04
CN113879970B CN113879970B (en) 2024-06-14

Family

ID=79008788

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111051773.9A Active CN113879970B (en) 2021-09-08 2021-09-08 Bridge crane anti-swing positioning segmented control method based on energy coupling

Country Status (1)

Country Link
CN (1) CN113879970B (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100077258A (en) * 2008-12-29 2010-07-08 연세대학교 산학협력단 Apparatus and method for control overhead crane
CN104528528A (en) * 2014-08-08 2015-04-22 浙江工业大学 Bridge crane nonlinear control method based on anti-swing signal
CN105329777A (en) * 2015-12-03 2016-02-17 山东大学 Fuzzy control method for lifting bridge crane system with persistent disturbances
CN105600683A (en) * 2016-03-01 2016-05-25 山东大学 Bridge crane error tracker with initial load swing angle and trolley displacement and method
CN109292628A (en) * 2018-10-30 2019-02-01 成都飞机工业（集团）有限责任公司 A kind of quick point-to-point parallel movement control method of crane
CN110342400A (en) * 2019-06-25 2019-10-18 河南科技大学 A kind of bridge crane positioning based on load energy coupling disappears and puts control method
CN110407095A (en) * 2019-06-25 2019-11-05 河南科技大学 A kind of bridge crane positioning based on online trajectory planning disappears and puts control method
CN110980536A (en) * 2020-01-17 2020-04-10 武汉科技大学 Anti-splashing control method for high-temperature molten metal transfer crane
CN112061979A (en) * 2020-08-31 2020-12-11 五邑大学 Bridge crane control method, operation control device and computer readable storage medium
CN112811318A (en) * 2020-12-31 2021-05-18 江南大学 Anti-swing boundary control method for bridge crane

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100077258A (en) * 2008-12-29 2010-07-08 연세대학교 산학협력단 Apparatus and method for control overhead crane
CN104528528A (en) * 2014-08-08 2015-04-22 浙江工业大学 Bridge crane nonlinear control method based on anti-swing signal
CN105329777A (en) * 2015-12-03 2016-02-17 山东大学 Fuzzy control method for lifting bridge crane system with persistent disturbances
CN105600683A (en) * 2016-03-01 2016-05-25 山东大学 Bridge crane error tracker with initial load swing angle and trolley displacement and method
CN109292628A (en) * 2018-10-30 2019-02-01 成都飞机工业（集团）有限责任公司 A kind of quick point-to-point parallel movement control method of crane
CN110342400A (en) * 2019-06-25 2019-10-18 河南科技大学 A kind of bridge crane positioning based on load energy coupling disappears and puts control method
CN110407095A (en) * 2019-06-25 2019-11-05 河南科技大学 A kind of bridge crane positioning based on online trajectory planning disappears and puts control method
CN110980536A (en) * 2020-01-17 2020-04-10 武汉科技大学 Anti-splashing control method for high-temperature molten metal transfer crane
CN112061979A (en) * 2020-08-31 2020-12-11 五邑大学 Bridge crane control method, operation control device and computer readable storage medium
CN112811318A (en) * 2020-12-31 2021-05-18 江南大学 Anti-swing boundary control method for bridge crane

Also Published As

Publication number Publication date
CN113879970B (en) 2024-06-14

Similar Documents

Publication Publication Date Title
CN108557664B (en) Bridge crane system enhanced coupling nonlinear PD (potential of Hydrogen) sliding mode controller and method
CN110980521B (en) System passivity-based under-actuated bridge crane anti-interference anti-swing method
CN109740240B (en) Design method and system of tower crane self-adaptive integral sliding mode controller capable of eliminating load swing
CN111153328B (en) Anti-swing control method and system of hoisting system based on L QR
CN106959610B (en) Bridge type crane system APD-SMC controller, bridge type crane system and control method
CN110342400B (en) Bridge crane positioning anti-swing control method based on load energy coupling
CN109132860B (en) PD-SMC control method and system for three-dimensional bridge crane system with load swing suppression
CN111142384B (en) Adaptive neural network tracking control method and system for two-stage pendulum tower crane
CN110407094B (en) Bridge crane positioning anti-swing control method based on dynamic smooth track
CN113955637B (en) Anti-swing control method and control system of three-dimensional double-swing bridge crane
CN106044567B (en) Overhead crane part saturation adaptive controller, control system and control method
CN108358062A (en) Drive lacking crane global stability control method
Ouyang et al. Load swing rejection for double-pendulum tower cranes using energy-shaping-based control with actuator output limitation
CN112147887B (en) Bridge crane positioning and swing eliminating method based on fuzzy sliding mode control
CN105523476A (en) Anti-swing control method and system for bridge crane
CN111142385A (en) Bridge type traveling crane system control method based on sliding mode control theory
CN106865416A (en) A kind of automatic anti-swinging control method in bridge crane walking process
CN110407095B (en) Bridge crane positioning anti-swing control method based on online track planning
Ouyang et al. Enhanced-coupling nonlinear controller design for load swing suppression in three-dimensional overhead cranes with double-pendulum effect
Liu et al. Research on application of fuzzy adaptive PID controller in bridge crane control system
CN113879970A (en) Energy coupling-based anti-swing positioning segmented control method for bridge crane
CN114594683A (en) Anti-swing sliding mode control method of moving base bridge crane based on Hurwitz stability
CN112061979B (en) Bridge crane control method, operation control device and computer readable storage medium
CN113321122A (en) Layered nonsingular terminal sliding mode control method for double-pendulum system of crane
CN109795954B (en) Computer control method for crane hook stabilization and crane

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
GR01 Patent grant