Four-degree-of-freedom tower crane tracking control method based on block backstepping method

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Four-degree-of-freedom tower crane tracking control method based on block backstepping method

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LIU XIAOPING / LI NING / ZHANG CHAOYANG / LIU CUNGEN / WANG HUANQING / HE WEIKAI / LIU XUDONG

The invention relates to a four-degree-of-freedom tower crane tracking control method based on a block backstepping method, and the method comprises the steps: constructing a tower crane kinetic model through a Lagrange method; obtaining a system state space expression through inversion operation and state transformation; according to a system state space expression, an actual controller of the tower crane is constructed by constructing a first error variable, a second error variable, a third error variable, an integral term, a first virtual controller and a second virtual controller. According to the technical scheme, the crane boom and the crane carriage can be effectively driven to ideal positions respectively, the swing angle of a load can be restrained, and the purpose of swing elimination is achieved.

本发明涉及了一种基于块反步法的四自由度塔式起重机跟踪控制方法，通过拉格朗日方法，构建塔式起重机动力学模型；通过求逆运算和状态变换，得到系统状态空间表达式；根据系统状态空间表达式，通过构建第一个误差变量、第二个误差变量、第三个误差变量、积分项、第一个虚拟控制器和第二个虚拟控制器来构建塔式起重机的实际控制器。本技术方案不仅可以有效地将起重臂和起重小车分别驱动到理想位置，可以抑制载荷的摆角，达到消摆的目的。

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Title :

Four-degree-of-freedom tower crane tracking control method based on block backstepping method

Additional title:

一种基于块反步法的四自由度塔式起重机跟踪控制方法

Contributors:

LIU XIAOPING (author) / LI NING (author) / ZHANG CHAOYANG (author) / LIU CUNGEN (author) / WANG HUANQING (author) / HE WEIKAI (author) / LIU XUDONG (author)

Publication date :

2024-01-16

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B66C Krane , CRANES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung