Adaptive coupled double-pendulum overhead crane control strategy with enhanced attitude suppression under initial input constraints

IF 1.8 4区 工程技术 Q3 ENGINEERING, MECHANICAL
Dong Li, Tianhu Xie, Guowei Li, Songming Hu, Jingfeng Yao
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引用次数: 0

Abstract

During the actual transportation process, overhead cranes are always affected by the double-pendulum effect, resulting in excessive swinging angles that affect the control performance of the anti-swing system. Moreover, the viscous resistance, air resistance, and swing angle suppression force encountered during transportation have uncertainties and cannot be accurately fed back to the controller’s input, resulting in poor swing angle suppression capability. In order to suppress the undesired swinging of the hook and load, this paper proposes an adaptive coupling anti-swing control strategy with enhanced swing angle suppression under initial input constraints. Specifically, more system parameters are included in the design of the coupling signal, and a sine term is introduced to adjust the oscillation of the hook and load swing angle. At the same time, a hyperbolic tangent term is introduced to suppress the driving force of the overhead crane to prevent excessive driving force from affecting the control performance. Furthermore, for the problem of uncertain parameters, an adaptive law is used to estimate the uncertain parameters online, ultimately designing an adaptive coupling anti-swing controller with enhanced swing angle suppression under initial input constraints. The asymptotic stability of the equilibrium point of the closed-loop system is proven using the Lyapunov method and LaSalle’s invariance principle. Through extensive experimental simulations, the proposed control strategy demonstrates good control performance.

Abstract Image

在初始输入约束条件下增强姿态抑制的自适应耦合双摆桥式起重机控制策略
在实际运输过程中,桥式起重机始终受到双摆效应的影响,导致摆角过大,影响防摆动系统的控制性能。此外,运输过程中遇到的粘性阻力、空气阻力和摆角抑制力都具有不确定性,无法准确反馈到控制器的输入中,导致摆角抑制能力差。为了抑制吊钩和负载的非预期摆动,本文提出了一种自适应耦合防摆动控制策略,在初始输入约束条件下增强了摆角抑制能力。具体来说,在耦合信号的设计中加入了更多的系统参数,并引入了正弦项来调整吊钩和负载摆动角的振荡。同时,引入双曲正切项来抑制桥式起重机的驱动力,防止过大的驱动力影响控制性能。此外,针对不确定参数问题,采用自适应法则对不确定参数进行在线估计,最终设计出在初始输入约束条件下具有增强摆角抑制能力的自适应耦合防摆控制器。利用 Lyapunov 方法和拉萨尔不变性原理证明了闭环系统平衡点的渐进稳定性。通过大量的实验模拟,所提出的控制策略显示出良好的控制性能。
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来源期刊
CiteScore
3.60
自引率
13.60%
发文量
536
审稿时长
4.8 months
期刊介绍: The Journal of the Brazilian Society of Mechanical Sciences and Engineering publishes manuscripts on research, development and design related to science and technology in Mechanical Engineering. It is an interdisciplinary journal with interfaces to other branches of Engineering, as well as with Physics and Applied Mathematics. The Journal accepts manuscripts in four different formats: Full Length Articles, Review Articles, Book Reviews and Letters to the Editor. Interfaces with other branches of engineering, along with physics, applied mathematics and more Presents manuscripts on research, development and design related to science and technology in mechanical engineering.
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