Search

CN-121979049-A - Self-tuning time-lag method and system for vibration control of suspension load

CN121979049ACN 121979049 ACN121979049 ACN 121979049ACN-121979049-A

Abstract

The invention discloses a self-tuning time-lag method and a system for vibration control of a suspension load, and relates to the field of vibration control of mechanical structures. According to the method, a parameter observation function is introduced into a self-tuning time-lag control algorithm, so that time-lag parameters of the self-tuning time-lag control algorithm can be adaptively adjusted in real time according to the changed rope length, the control algorithm can still keep robust and effective vibration suppression performance under the condition that system parameters (such as the rope length) are continuously changed, the problem of performance degradation in a time-varying system in a traditional control method is solved, the inherent closed-loop time-lag of the system is directly integrated in the core time-lag parameter design of the self-tuning time-lag control algorithm, the traditional time-lag compensator (such as a Smith predictor and model predictive control) which is complicated and depends on a high-precision model is avoided, and therefore a control loop is basically not influenced by feedback time-lag of the system, and an effective and simple solution is provided.

Inventors

  • CHU WEI
  • WANG YANQING

Assignees

  • 东北大学

Dates

Publication Date
20260505
Application Date
20260128

Claims (8)

  1. 1. A self-tuning method of vibration control of a suspended load, comprising the steps of: the method comprises the steps of establishing a dynamic model of a suspended load in a suspended load system, wherein the suspended load system comprises a displacement device, a suspended rope and a suspended load, and the displacement device is used for moving the position of a suspended point between the suspended rope and the suspended load; based on a dynamic model of the suspension load, estimating the vibration frequency of the suspension load, and further realizing real-time identification of the rope length of the suspension rope in the suspension load system; and determining the optimal time delay for restraining the vibration of the suspension load according to the identified rope length of the suspension rope, and utilizing the displacement device to restrain the vibration of the suspension load.
  2. 2. The self-tuning dead time method of vibration control of a suspended load according to claim 1, wherein said establishing a dynamic model of the suspended load in the suspended load system comprises: First, a global Cartesian coordinate system is established Origin of point Is arranged at the point of suspension and, Shaft and method for producing the same The axes are positioned in a horizontal plane and are mutually perpendicular, With the vertical axis downwards, a new inertial coordinate system along with the movement of the suspension point Is defined at the current position of the suspension point, inertial coordinate system Origin of (2) With translation of the suspension point, which A shaft(s), Shaft and method for producing the same Axes respectively parallel to the global Cartesian coordinate system A kind of electronic device A shaft(s), Shaft and method for producing the same Shaft, at this point of suspension Origin with respect to a global Cartesian coordinate system At the position of Axial direction and direction of the shaft For displacement in axial direction And The representation, furthermore, defines a local coordinate system relative to the suspended load To specify the position of the suspended load, local coordinate system Initially set up as and inertial coordinate system Overlap and then surround The axis of the shaft is provided with a plurality of grooves, Shaft and method for producing the same The shaft rotates in a series, and corresponding Euler angles are respectively used , And Representing, therefore, the suspended load in a global coordinate system The positions in (2) are expressed as: ; ; ; Wherein, the In a global coordinate system for suspending loads Is a position vector of (a); for the origin of the suspension point at that time relative to the global Cartesian coordinate system Is a position vector of (2); Representing the suspension load in an inertial frame Is used to determine the relative position vector of the two, 、 、 Respectively, are suspended on A shaft(s), Shaft and method for producing the same A displacement component on the shaft; indicating that the suspended load is in a local coordinate system relative to the point of suspension at that time Position vector in (a), and , Indicating the length of the variable suspension cord, In order to be able to take the moment of time, Is a transposition; 、 、 Respectively is wound around A shaft(s), Shaft and method for producing the same A rotation matrix of axes; Rotation matrix 、 、 The expression of (2) is: ; Suspension of load in inertial frame Relative position vector in (a) The development form of (2) is: ; Inertial coordinate system The rope tension acting on the suspended load is expressed as: ; Wherein, the Is an inertial coordinate system The lower rope tension vector is set, Is a local coordinate system Lower rope tension vector, and , Is a local coordinate system Lower rope tension vector At the position of A component of the shaft; Inertial coordinate system The following rope tension vectors are developed in the form of: ; the weight acting on the suspended load is expressed as: ; Wherein, the Representing the weight force acting on the suspended load, Representing gravitational acceleration; representing the mass of the suspended load; thus, the kinetic model of the suspended load is expressed as: ; Wherein, the Representation of For time of day Is used for the first derivative of (c), Representation of For time of day Is used for the first derivative of (c), Representation of For time of day Is used for the first derivative of (c), Representation of For time of day Is a second derivative of (c).
  3. 3. The self-tuning time-lag method of vibration control of a suspended load according to claim 1, wherein the method estimates the vibration frequency of the suspended load based on a dynamic model of the suspended load, thereby realizing real-time identification of the rope length of a suspended rope in a suspended load system, and specifically comprises: s1, estimating the vibration frequency of a suspension load through least square estimation; Suspension of load in inertial frame Relative position vector in (a) Dimensionless position component of (2) 、 And Expressed as: ; Wherein, the 、 And Respectively, the suspension loads are in an inertial coordinate system Relative position vector in (a) Dimensionless location component of (2); in the axial direction of Dimensionless position component of time of day Is marked as Expressed as: ; Wherein, the Is the time of day at which, Is the number of the moment of time, Is that Amplitude of (2); Is that Is used for the vibration angular frequency of the (c), Is that Is a phase angle of (2); Then, there are: ; Wherein, the Is the time interval between two consecutive samples; Setting up Is central The angular frequency of vibration in the data window of the dimensionless position component is always equal to , As an integer, obtain: ; Wherein, the , , ; Subsequently, the objective function is set to: ; Wherein, the Is an objective function; to obtain the objective function The extremum of (2) is: ; by solving for Vibration frequency of X-axis Expressed as: ; similarly, the vibration frequency of the Y-axis is obtained ; S2, acquiring more accurate vibration frequency by adopting a frequency selection algorithm according to the estimated vibration frequency of the suspension load; first, the vibration frequency of the X-axis of the currently estimated suspension load is compared with the vibration frequency of the X-axis -1 Moment-estimated vibration frequency of the X-axis of the suspended load constitutes a sequence of vibration frequency data points, an average value is calculated And standard deviation : ; ; Wherein, the Is the first The frequency of vibration identified by the displacement component, As a number of the vibration frequency, Is the number of vibration frequencies; Then, calculate the stability score of the X-axis : ; Wherein, the Is the maximum value of standard deviation; Calculating a consistency score for the X-axis : ; Wherein, the For the currently estimated vibration frequency of the X-axis of the suspended load, As a mean deviation of the values of the deviations, Is the maximum value of the average value; Integrated score of final X-axis The calculation is as follows: ; Wherein, the Is a weighting factor; Similarly, the final Y-axis composite score S y is expressed as: ; Wherein, the Stability score for Y axis; Consistency score for Y axis; finally, a more accurate vibration frequency The expression is as follows: ; Wherein, the For the currently estimated vibration frequency of the Y-axis of the suspended load, A set frequency difference threshold; s3, identifying the rope length of the suspension rope according to the acquired more accurate vibration frequency; the rope length L (t) of the suspension rope is expressed as the vibration frequency: 。
  4. 4. The self-tuning time-lag method of vibration control of a suspended load according to claim 1, wherein the determining the optimal time-lag for suppressing vibration of the suspended load based on the identified rope length of the suspended rope and the vibration suppression of the suspended load using the displacement device comprise: Will be described in In (a) and (b) The equation for direction is rewritten as: ; Wherein, the Is that For time of day Is a second derivative of (2); Will be described in Substituted formula In (1), the following steps are obtained: ; Wherein, the For x and time Is used for the first derivative of (c), For y versus time Is a second derivative of (2); time lag control method is introduced, and suspension point is reached Edge of the frame Shaft and method for producing the same The control displacement in the axial direction is expressed as: ; Wherein, the And Respectively shown in Moment, suspension point Edge of the frame Shaft and method for producing the same The control displacement in the axial direction is controlled, And Control gain and time lag respectively Equal to one quarter of the period, i.e. The time is the best time lag, and the time delay is the best time lag, Is the angular frequency of vibration, and , Is the vibration frequency; in addition, system feedback time lags are considered Therefore, the suspension point displacement of the resulting displacement device is expressed as: (35); Wherein, the To obtain a more accurate vibration frequency; time lags are fed back for the system.
  5. 5. A self-tuning dead-time system for suspension load vibration control for implementing a self-tuning dead-time method for suspension load vibration control as defined in any one of claims 1-5, comprising: the model construction module is used for establishing a dynamic model of the suspended load in the suspended load system; the vibration frequency estimation and rope length identification module is used for estimating the vibration frequency of the suspension load based on a dynamic model of the suspension load, so that real-time identification of the rope length of the suspension rope in the suspension load system is realized; and the vibration suppression module is used for determining the optimal time lag for suppressing the vibration of the suspension load according to the identified rope length of the suspension rope and realizing the vibration suppression of the suspension load by utilizing the displacement device.
  6. 6. An electronic device comprising one or more processors and a memory for storing instructions that, when executed by the one or more processors, cause the one or more processors to perform a self-tuning dead-time method of suspended load vibration control of any one of claims 1-4.
  7. 7. A computer readable storage medium storing executable instructions that when executed cause a processor to perform a self-tuning dead-time method of suspension load vibration control of any one of claims 1-4.
  8. 8. A computer program product comprising a computer program or instructions which when executed by a processor implements a self-tuning method of suspension load vibration control as claimed in any one of claims 1 to 4.

Description

Self-tuning time-lag method and system for vibration control of suspension load Technical Field The invention belongs to the field of vibration control of mechanical structures, and particularly relates to a self-tuning time-lag method and system for vibration control of a suspension load. Background Whether the conventional industrial crane or the leading-edge unmanned aerial vehicle load transportation, the stability and the high-precision transportation capability of the suspended load are still fundamental problems widely faced by the engineering community, and the suspended load vibration phenomenon is driven by external interference and transient motion, so that the complexity of a control strategy is obviously increased, and serious operation risks can be caused. While prior studies have developed various control methods, conventional controllers often fail in the face of the fundamental assumption that fixed parameters cannot be met in modern applications in terms of time-varying dynamics, especially rope length dynamics. In addition, the system time lag generated by the program execution and communication links is another large core bottleneck. While model-based time lag compensation techniques are currently the dominant approach, maintaining high accuracy model modeling in time-varying systems is extremely challenging, making stable applications of such techniques difficult. Unstable movements of the load can lead to catastrophic accidents, resulting in property loss, project delays, and even life threatening safety. CN 201911197748.4 discloses an unmanned aerial vehicle hanging flight system control method based on an energy method. According to the method, a nonlinear dynamics model is established, a Lyapunov equation is designed based on an energy function, and the asymptotic convergence of the system position and the swing angle is proved by utilizing a Lassel invariant set theory, so that the unmanned plane position control and swing elimination are realized. CN 201910306471.8 discloses a single parameter adjusting crane operation whole process active disturbance rejection control method. The method generates an ideal track according to safety constraint, constructs an error feedback law, compensates disturbance by using an extended state observer, and simplifies complex parameter setting into single parameter adjustment so as to cope with model uncertainty. For CN 201911197748.4, its nonlinear control strategy based on energy method is highly dependent on preset dynamics model, and assume that system parameters are constant. In actual operation, the length of the lifting rope is always continuously changed along with working conditions, so that the physical characteristics of the system dynamically evolve, and the method lacks the adaptability to the time-varying characteristics of the rope length, so that the optimal control performance is difficult to maintain in the rope length changing process. For CN 201910306471.8, although the single-parameter active disturbance rejection control method reduces the parameter adjustment difficulty to a certain extent, the time lag problem existing in the closed loop of the system is not considered. Time lags generated by sensor sampling, signal transmission and calculation iteration are extremely easy to cause observer failure or control phase lag under the coupling action of variable rope length, so that load vibration is aggravated and even a system is unstable. The control method proposed by the above patent solves the problem of vibration of the suspended load to a certain extent, but has obvious limitations when dealing with complex actual conditions. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a self-tuning time-lag method and a system for vibration control of a suspension load, which are used for solving the problems that in the existing control method, in a time-varying system with continuous parameters such as rope length and the like, a high-precision model is difficult to build to adapt to system change, and meanwhile, the traditional control method is sensitive to feedback time lag of a closed-loop system and is easy to degrade. The technical scheme of the invention is as follows: in one aspect, the invention provides a self-tuning time-lag method for vibration control of a suspended load, comprising the following specific steps: the method comprises the steps of establishing a dynamic model of a suspended load in a suspended load system, wherein the suspended load system comprises a displacement device, a suspended rope and a suspended load, and the displacement device is used for moving the position of a suspended point between the suspended rope and the suspended load; based on a dynamic model of the suspension load, estimating the vibration frequency of the suspension load, and further realizing real-time identification of the rope length of the suspension rope in the suspension load system; an