Abstract
The bridge crane system is widely used in the industrial production for transporting large loads. Its anti-sway positioning control is quite crucial for enhancing handling efficiency and safety, but it is also difficult due to underactuated dynamics and various disturbances. In this paper, an anti-sway positioning control algorithm for unmanned crane is proposed based on the load generalized position tracking control algorithm (GPTC), which combines with a disturbance observer to effectively reject the lumped disturbances. The test results show that the proposed method can effectively achieve anti-sway and positioning with prominent disturbance suppression improvements.
Highlights
In the past few decades, researchers have been making a lot of efforts to explore effective control strategies for underactuated mechanical systems
When the disturbance estimations DðsÞ is equal to the external disturbances DðsÞ, A0ðsÞ is equal to the feedback input AðsÞ, which reduces the influence of the external disturbances on the system to a minimum
After the step disturbances are added at t = 5 s, compared with that without DOB (GPTC method), the range of angle variation is reduced by 11.86% and the integral of absolute angel error (IAAE) can be largely decreased under the proposed generalized position tracking control algorithm (GPTC)
Summary
In the past few decades, researchers have been making a lot of efforts to explore effective control strategies for underactuated mechanical systems. In order to enhance the coupling of the system states, a new energy storage function Ex instead of EðtÞ is proposed in Sun and Fang.[43] Its derivative is expected to take the following form as: E. x = F Á x_ p ð10Þ where xp = x + gðuÞ represents the generalized horizontal displacement of the load. It can be seen from equation (11) that the new energy storage function Ex is still passive, but the system output is changed to the generalized displacement of the load xp It converts the under-driven system into a ‘‘full-drive’’ system and completes the coupling control design of swing angle.[43]. By LaSalle’s invariance principle,[43,44] it can be deduced that the generalized positioning error dðtÞ of the load will converge to zero, that is, the driving positioning error tends to zero and the swing angle of the load is suppressed and eliminated
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