The Research on Predictive Function Control of Double-Pendulum Overhead Crane

Abstract

When the quality of crane hook cannot be ignored, the system presents double-pendulum effect with higher underactuation, and the corresponding complexity and non-linearity increase, which makes the control of the system more difficult. In order to solve this problem, this article fully considers the error between the actual output and the predicted output, and applies the predictive function control (PFC) strategy to the positioning and anti-sway system of the double-pendulum overhead crane. According to the nonlinear mathematical model, the T-S fuzzy model is designed, and the linear quadratic regulator (LQR) is used to obtain the state feedback matrix to stabilize the controlled object, obtain the generalized controlled object, and discretize the obtained generalized controlled object. And using it as a predictive model to design a predictive function controller for a double-pendulum overhead crane. Simulation results show that the proposed method can not only realize rapid positioning, but also effectively suppress the pole swing and residual swing, and it still has good stability and robustness under the condition of adding disturbance or changing parameters.