Underactuated crane differential flat tracking control method
The invention discloses an underactuated crane differential flat tracking control method which is characterized in that a sigmoid function is utilized to construct a novel acceleration trajectory which comprises the whole process of acceleration, constant speed and deceleration, is smooth and contin...
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| creator | XIAO YOUGANG TONG JUNHAO WANG HUIDI LI WEI |
| description | The invention discloses an underactuated crane differential flat tracking control method which is characterized in that a sigmoid function is utilized to construct a novel acceleration trajectory which comprises the whole process of acceleration, constant speed and deceleration, is smooth and continuous and can meet actual physical constraints; a crane kinetic model containing load lifting is converted to obtain differential flat output equations of transverse movement and vertical movement of a load, the differential flat output equations are converted into an integral series form, and a linear expansion state observer is designed to estimate each order state and total disturbance of the transverse movement and the vertical movement of the load; and the ideal values of all-order states of the transverse and vertical movement of the load at all moments are compared with actual values or estimated values to obtain state errors, the total disturbance is compensated, and an error feedback control law of the tran |
| format | Patent |
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a crane kinetic model containing load lifting is converted to obtain differential flat output equations of transverse movement and vertical movement of a load, the differential flat output equations are converted into an integral series form, and a linear expansion state observer is designed to estimate each order state and total disturbance of the transverse movement and the vertical movement of the load; and the ideal values of all-order states of the transverse and vertical movement of the load at all moments are compared with actual values or estimated values to obtain state errors, the total disturbance is compensated, and an error feedback control law of the tran</description><language>chi ; eng</language><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL ; CONTROLLING ; CRANES ; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS ; HAULING ; HOISTING ; LIFTING ; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS,WINCHES, OR TACKLES ; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS ; 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a crane kinetic model containing load lifting is converted to obtain differential flat output equations of transverse movement and vertical movement of a load, the differential flat output equations are converted into an integral series form, and a linear expansion state observer is designed to estimate each order state and total disturbance of the transverse movement and the vertical movement of the load; and the ideal values of all-order states of the transverse and vertical movement of the load at all moments are compared with actual values or estimated values to obtain state errors, the total disturbance is compensated, and an error feedback control law of the tran</description><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL</subject><subject>CONTROLLING</subject><subject>CRANES</subject><subject>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</subject><subject>HAULING</subject><subject>HOISTING</subject><subject>LIFTING</subject><subject>LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS,WINCHES, OR TACKLES</subject><subject>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</subject><subject>PERFORMING OPERATIONS</subject><subject>PHYSICS</subject><subject>REGULATING</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2021</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZLANzUtJLUpMLilNLElNUUguSsxLVUjJTEtLLUrNK8lMzFFIy0ksUSgBKsnOzEtXSM7PKynKz1HITS3JyE_hYWBNS8wpTuWF0twMim6uIc4euqkF-fGpxQWJyal5qSXxzn6GhsYGlsamJoaOxsSoAQBWLzCV</recordid><startdate>20210709</startdate><enddate>20210709</enddate><creator>XIAO YOUGANG</creator><creator>TONG JUNHAO</creator><creator>WANG HUIDI</creator><creator>LI WEI</creator><scope>EVB</scope></search><sort><creationdate>20210709</creationdate><title>Underactuated crane differential flat tracking control method</title><author>XIAO YOUGANG ; TONG JUNHAO ; WANG HUIDI ; LI WEI</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN113093541A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2021</creationdate><topic>CONTROL OR REGULATING SYSTEMS IN GENERAL</topic><topic>CONTROLLING</topic><topic>CRANES</topic><topic>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</topic><topic>HAULING</topic><topic>HOISTING</topic><topic>LIFTING</topic><topic>LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS,WINCHES, OR TACKLES</topic><topic>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</topic><topic>PERFORMING OPERATIONS</topic><topic>PHYSICS</topic><topic>REGULATING</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>XIAO YOUGANG</creatorcontrib><creatorcontrib>TONG JUNHAO</creatorcontrib><creatorcontrib>WANG HUIDI</creatorcontrib><creatorcontrib>LI WEI</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>XIAO YOUGANG</au><au>TONG JUNHAO</au><au>WANG HUIDI</au><au>LI WEI</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Underactuated crane differential flat tracking control method</title><date>2021-07-09</date><risdate>2021</risdate><abstract>The invention discloses an underactuated crane differential flat tracking control method which is characterized in that a sigmoid function is utilized to construct a novel acceleration trajectory which comprises the whole process of acceleration, constant speed and deceleration, is smooth and continuous and can meet actual physical constraints; a crane kinetic model containing load lifting is converted to obtain differential flat output equations of transverse movement and vertical movement of a load, the differential flat output equations are converted into an integral series form, and a linear expansion state observer is designed to estimate each order state and total disturbance of the transverse movement and the vertical movement of the load; and the ideal values of all-order states of the transverse and vertical movement of the load at all moments are compared with actual values or estimated values to obtain state errors, the total disturbance is compensated, and an error feedback control law of the tran</abstract><oa>free_for_read</oa></addata></record> |
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| language | chi ; eng |
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| subjects | CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING CRANES FUNCTIONAL ELEMENTS OF SUCH SYSTEMS HAULING HOISTING LIFTING LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS,WINCHES, OR TACKLES MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PERFORMING OPERATIONS PHYSICS REGULATING TRANSPORTING |
| title | Underactuated crane differential flat tracking control method |
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