CN110398896A - A kind of control algolithm for intelligent portal crane - Google Patents
A kind of control algolithm for intelligent portal crane Download PDFInfo
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- CN110398896A CN110398896A CN201910689582.1A CN201910689582A CN110398896A CN 110398896 A CN110398896 A CN 110398896A CN 201910689582 A CN201910689582 A CN 201910689582A CN 110398896 A CN110398896 A CN 110398896A
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- 239000000725 suspension Substances 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 claims description 9
- 230000010355 oscillation Effects 0.000 claims description 9
- 238000004088 simulation Methods 0.000 claims description 7
- 230000001629 suppression Effects 0.000 claims description 4
- 238000012795 verification Methods 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 8
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000002401 inhibitory effect Effects 0.000 abstract description 2
- 230000003028 elevating effect Effects 0.000 abstract 1
- 238000007493 shaping process Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000013016 damping Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
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- 238000005457 optimization Methods 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
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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
- B66C13/18—Control systems or devices
-
- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of control algolithms for intelligent portal crane, which is characterized in that the control algolithm is the following steps are included: step 1: king-tower revolution and suspension arm variable-amplitude control；Step 2: lifting rope elevating control；Step 3: suspender rotation control.The advantage of the invention is that carrying out opened loop control for inhibiting portal crane to swing using input shaper, doing so and adjusted to input waveform, to improve the performance of system in advance.To inhibit suspender rotation, is controlled with Sliding mode, effectively overcomes the uncertainty of system, there is very strong robustness to extraneous noise jamming and parameter variations, control method designs simple and convenient, it is easy to accomplish.
Description
Technical Field
The invention relates to a control algorithm of an intelligent port crane, in particular to a control method for restraining swinging of a lifting appliance based on a zero oscillation zero differential (ZVD) input shaper and an EI input shaper and a control method for restraining rotation of the lifting appliance based on a robust sliding mode controller.
Background
The port crane is mainly used for hoisting and carrying port cargos and is important equipment for ensuring smooth work of a port. With the continuous expansion of industrial production scale and the increasing production benefit, port cranes have greater and greater effect in modern ports and higher requirements on the port cranes. However, the flexible rope is adopted to hoist the goods, and the port crane swings in the operation process due to the existence of external disturbance such as sea wind and the like. The swinging not only can cause damage to goods, but also can reduce production efficiency and even cause safety accidents, thereby bringing about huge economic loss. At present, the automation degree of port cranes is generally low, the swinging phenomenon is mainly solved by the experience and the technology of drivers, the difficulty is high in the actual operation process, and the error is difficult to control. Therefore, the research on the anti-swing control method of the port crane has important significance for improving the working efficiency, reducing the potential safety hazard, shortening the working period and the like.
Disclosure of Invention
The invention aims to provide a control method for effectively inhibiting swinging of a port crane lifting appliance and rotation of a lifting hook.
The technical purpose of the invention is realized by the following technical scheme:
a control algorithm for an intelligent port crane, characterized in that it comprises the following steps:
step 1: main tower rotation and suspension arm amplitude variation control: analyzing and modeling a port crane lifting and swinging system based on a Lagrange kinetic equation, designing a zero oscillation zero differential (ZVD) input shaper to modulate an input waveform by adopting an open loop control thought to inhibit the swinging of a lifting appliance, and performing simulation verification;
step 2: lifting control of a lifting rope: because the load swinging natural frequency change caused by lifting of the lifting rope exceeds the anti-swing bandwidth of the originally designed input shaper, the EI input shaper insensitive to the load swinging natural frequency change is designed to realize the swinging suppression when the rope length is changed;
and step 3: controlling the rotation of the lifting appliance: and performing dynamic analysis and modeling on a physical model of the hook rotating system, establishing a system dynamic equation, designing a robust sliding mode controller to inhibit the rotation of the lifting appliance, and performing simulation verification.
Preferably, the zero oscillation zero differential (ZVD) input shaper in step 1 is in a specific form
c(t)＝A1+A2δ(t-T)+A3δ(t-2T)，
Wherein:
preferably, the EI input shaper in the step 2 is
c(t)＝0.2525δ(t)+0.4950δ(t-4.76)+0.2525δ(t-9.52)。
Preferably, the robust sliding mode controller in step 3 selects constant control to perform switching control.
Preferably, in step 3, to reduce buffeting, the robust sliding mode controller replaces a sign function with a saturation function.
Preferably, the control law of the robust sliding mode controller in step 3 is
In conclusion, the beneficial effects of the invention are as follows: for suppression of port crane oscillations, open loop control is performed using an input shaper, which adjusts the input waveform, thereby improving the performance of the system in advance. In order to restrain the rotation of the lifting appliance, robust sliding mode control is applied, the uncertainty of the system is effectively overcome, and the robust lifting appliance has strong robustness on external noise interference and parameter variation. The control methods related by the invention are simple and convenient in design and easy to realize.
Drawings
FIG. 1 is an abstract model diagram of a port crane;
FIG. 2 is a diagram of a physical model of a port crane pendulum suspension system;
FIG. 3 is a zero oscillation zero differential (ZVD) input shaper simulation;
FIG. 4 is a comparison graph of the change of the swing angle before and after shaping by the ZVD input shaper;
FIG. 5 is a comparison graph of spatial positions before and after shaping by the ZVD input shaper;
FIG. 6 is an input shaping pulse vector diagram of a unimodal EI shaper under polar coordinates;
FIG. 7 is a diagram of a model of the dynamics of the hook rotation system;
FIG. 8 is a graph of the change of the rotation angle of the hook and spreader without a container under robust sliding mode control;
FIG. 9 is a graph of the change of the rotation angle of a hook with a spreader with a full load container under robust sliding mode control;
fig. 10 is a graph of rotation angle changes when the lifting hook plus the lifting appliance is fully loaded and the rope length is changed under the control of a robust sliding mode.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings, and the present embodiment is not to be construed as limiting the invention.
As shown in figure 1, the control algorithm for the intelligent port crane divides the control of the port crane into three steps, wherein the step 1 is the main tower rotation and the suspension arm amplitude variation control, the step 2 is the lifting rope lifting control, and the step 3 is the spreader rotation control. The following is a specific control algorithm for each step.
Step 1: with reference to fig. 2, a mathematical model of the main tower and the boom of the port crane is derived according to the lagrangian kinetic equation to obtain a kinetic equation of the pivot angle α:
kinetic equation of the swing angle β:
wherein:
a: the horizontal distance of the boom fulcrum relative to the rotation center of the port crane;
b: the vertical distance of the boom fulcrum relative to the rotation center of the port crane;
l: boom length;
h: the length of the lifting rope;
m: a load mass;
g: acceleration of gravity;
θ: the horizontal turning angle of the suspension arm is positive clockwise;
phi: the pitching angle of the suspension arm relative to the horizontal plane is positive upwards;
α: the swing angle of the lifting appliance in the vertical plane of the lifting arm is positive outwards;
beta: the normal swing angle of the lifting appliance on the vertical plane of the lifting arm is positive anticlockwise;
as shown in fig. 3, a zero oscillation zero differential (ZVD) input shaper at a fixed pendulum length is designed, and the input shaper is expressed as:
where δ (t) is the shaping pulse function, AiIs the amplitude, T, of the shaped pulseiThe pulse action time. The tilt angle equation can be simplified into a second order system as follows in connection with example 1:
wherein, ω isnIs the system frequency, ξ is the damping coefficient, u is the input, and y is the output.
Taking state variablesSolving equation (4) to obtain:
where φ (t) is the state transition matrix of the system, and B is the input matrix. According to the requirements of the pendulum elimination effect, selecting the following quadratic form objective function:
wherein,as a weighted function of the object, w1Is the weight of the output, w2Is the weight of the output derivative. Assuming that the input shaping pulse time interval is T and the system initial condition is zero, equations (3) and (6) can be rewritten as:
wherein Φ (T) ═ Φ (T-T) B … Φ (T-nT) B]TCombining the optimization conditions:
the following can be obtained:
c＝-[ΦTWΦ]-1ΦTWφ(0)B， (10)
the state transition matrix phi (t) is substituted into formula (10), and is simplified to obtain the following form of ZVD input shaper:
c(t)＝A1+A2δ(t-T)+A3δ(t-2T)， (11)
wherein:
the change of the swing angle before and after the shaping of the ZVD input shaper is shown in figure 4, the swing amplitude of the swing angle before the shaping is about 4 degrees, and the swing amplitude of the swing angle after the ZVD shaping is about 0.1 degree.
As shown in fig. 5, the spatial position swing suppression before and after the ZVD input shaper shapes is that the swing amplitude in the XY plane before shaping is about 2.8m, and the swing amplitude in the Z-axis direction is about 0.005 m; after the ZVD shaping, the swing amplitude in the XY plane is about 0.08m, and the swing amplitude in the Z-axis direction is about 0.001 m.
Step 2: fig. 6 is an input shaped pulse vector diagram of a unimodal EI shaper in polar coordinates. The lifting of the lifting rope causes the load swinging natural frequency to change, the ZVD input shaper designed in the step 1 cannot effectively eliminate swinging, and the parameters of the unimodal EI input shaper of the undamped system are solved by utilizing a vector diagram simultaneous constraint equation in combination with the diagram 6. The 3 shaping pulses of a unimodal EI input shaper are:
wherein V is the maximum tolerance value of the residual oscillation of the system. Taking V as 1%, and the natural frequency of load swing as omegasysAt 0.66rad/s, the input shaping pulse time interval T is 4.76s, resulting in a unimodal EI input shaper as follows:
c(t)＝0.2525δ(t)+0.4950δ(t-4.76)+0.2525δ(t-9.52)。 (14)
and step 3: with reference to fig. 7, the hook rotation system was dynamically modeled. In a dynamic model of the rotation of the lifting hook, the rotation angle of the lifting hook is alpha, the rotation angle of the lifting appliance is beta, and the included angle between the lifting hook and the lifting appliance is betaThe radius of the lifting hook is R, and the offset radius of the top end of the lifting rope is RtThe cheap radius of the tail end of the lifting rope is r1The length of the lifting rope is h, and the vertical distance from the lifting appliance to the top end of the crane is hz。
Projection length of lifting rope on horizontal plane:
vertical distance h (projection length of lifting rope on Z axis) from lifting appliance to top end of cranez：
Component force of a single lifting rope in the vertical direction:
component force of a single lifting rope in the horizontal rotation tangential direction of the lifting appliance:
the resultant moment of the two lifting ropes in the horizontal rotation tangential direction of the lifting appliance is as follows:
the dynamic equation of the lifting appliance in the Z-axis direction is as follows:
a single lifting rope is arrangedTension at the time:
the moment of momentum equation of the whole hanger rotating around the Z axis:
wherein, J1，J2Is the moment of inertia of the hook and load, and k is the torsional damping coefficient.
The geometrical relationships and assumptions present in the model:
equations (16), (21) and (23) are substituted into equation (22), and are simplified to obtain the kinetic equation of the hook rotation system:
further, a kinetic equation of the rotation angle alpha of the lifting hook is obtained:
the hook rotation system is nonlinear and is controlled using robust sliding mode control. The lifting hook is rotated to a certain angle by controlling the motorSimultaneously, the torsion of the lifting rope is reduced, so that the rotation angle alpha → 0 of the lifting hook is realized, namely, the final effect isThe robust sliding mode control design key steps are as follows:
tracking error:
defining linearly coupled slip-form surfaces s:
first order differential of slip form surface s:
selecting constant value control for switching control:
where K is a constant value and sgn(s) is a sign function. To reduce buffeting, the sign function is replaced by a saturation function sat(s):
wherein ε is a constant parameter.
Combining equations (26), (28) and (30), the control law of robust sliding mode control is designed as follows:
wherein, to ensure system stability, k1,k2,k3A constant value of > 0.
According to the control law of robust sliding mode control of the formula (31), k is taken1＝8，k2＝1.8，k3＝4，K＝0.55，ε＝0.05，The simulation was performed for a step signal with an amplitude of 50 °. Fig. 8, 9 and 10 correspond to graphs of simulation results for no container, full container and full container, respectively, with varying lengths of the lifting ropes under robust sliding mode control. As can be seen from the figure, in the above three cases, the steady state error is within 0.2 ° for about 25s, and the actual requirement is satisfied.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.
Claims (6)
1. A control algorithm for an intelligent port crane, characterized in that it comprises the following steps:
step 1: main tower rotation and suspension arm amplitude variation control: analyzing and modeling a port crane lifting and swinging system based on a Lagrange kinetic equation, designing a zero oscillation zero differential (ZVD) input shaper to modulate an input waveform by adopting an open loop control thought to inhibit the swinging of a lifting appliance, and performing simulation verification;
step 2: lifting control of a lifting rope: because the load swinging natural frequency change caused by lifting of the lifting rope exceeds the anti-swing bandwidth of the originally designed input shaper, the EI input shaper insensitive to the load swinging natural frequency change is designed to realize the swinging suppression when the rope length is changed;
and step 3: controlling the rotation of the lifting appliance: and performing dynamic analysis and modeling on a physical model of the hook rotating system, establishing a system dynamic equation, designing a robust sliding mode controller to inhibit the rotation of the lifting appliance, and performing simulation verification.
2. The control algorithm for the intelligent harbor crane according to claim 1, wherein: the specific form of the zero oscillation zero differential (ZVD) input shaper in the step 1 is
c(t)＝A1+A2δ(t-T)+A3δ(t-2T)，
Wherein:
3. the control algorithm for the intelligent harbor crane according to claim 1, wherein: the EI input shaper in the step 2 is
c(t)＝0.2525δ(t)+0.4950δ(t-4.76)+0.2525δ(t-9.52)。
4. The control algorithm for the intelligent harbor crane according to claim 1, wherein: and the robust sliding mode controller in the step 3 selects constant value control to carry out switching control.
5. The control algorithm for the intelligent harbor crane according to claim 1, wherein: in the step 3, in order to reduce buffeting, the robust sliding mode controller replaces a sign function with a saturation function.
6. The control algorithm for the intelligent harbor crane according to claim 1, wherein: the control law of the robust sliding mode controller in the step 3 is
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112068428A (en) * | 2020-08-31 | 2020-12-11 | 五邑大学 | Design method and system of double-pendulum PI type Terminal sliding mode controller of bridge crane |
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| JP2001261282A (en) * | 2000-03-23 | 2001-09-26 | Nippon Steel Corp | Positioning and bracing control method for crane and its device |
| CN202429903U (en) * | 2011-12-19 | 2012-09-12 | 苏州汇川技术有限公司 | Mechanical control system for crane and crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001261282A (en) * | 2000-03-23 | 2001-09-26 | Nippon Steel Corp | Positioning and bracing control method for crane and its device |
| CN202429903U (en) * | 2011-12-19 | 2012-09-12 | 苏州汇川技术有限公司 | Mechanical control system for crane and crane |
Non-Patent Citations (2)
| Title |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112068428A (en) * | 2020-08-31 | 2020-12-11 | 五邑大学 | Design method and system of double-pendulum PI type Terminal sliding mode controller of bridge crane |
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Effective date of registration: 20191105 Address after: 226000 No. 88 Rongsheng Road, Nantong Ship Complementary Industrial Park, Jiangsu Province Applicant after: NANTONG RAINBOW HEAVY MACHINERIES Co.,Ltd. Applicant after: WUXI KALMAN NAVIGATION TECHNOLOGY CO.,LTD. Address before: 226000 No. 88 Rongsheng Road, Nantong Ship Complementary Industrial Park, Jiangsu Province Applicant before: NANTONG RAINBOW HEAVY MACHINERIES Co.,Ltd. |
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Application publication date: 20191101 |