CN-122009969-A - Bridge type grab ship unloader anti-shake positioning control method based on self-adaptive decoupling sliding mode

CN122009969ACN 122009969 ACN122009969 ACN 122009969ACN-122009969-A

Abstract

The invention provides a bridge type grab ship unloader anti-shake positioning control method based on a self-adaptive decoupling sliding mode, which comprises the following steps of S1, defining key operation parameters of equipment, S2, establishing an equipment dynamics model, S3, defining a state variable and converting a subsystem, S4, defining a control error and constructing a primary sliding mode surface, S5, designing a self-adaptive intermediate variable and constructing a secondary sliding mode surface, S6, constructing a self-adaptive decoupling sliding mode master controller, and S7, realizing anti-shake positioning closed-loop control. The invention realizes the rapid in-place and grab bucket swing inhibition of the trolley.

Inventors

LI HUACHAO
LIU HUATING
GAN ZHIJIE
CAO PENGCHENG
CHEN SHAOHUI
HUANG LONGHAO
WANG CHENGLONG

Assignees

苏州物量智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251229
Priority Date: 20251226

Claims (10)

1. The method for controlling the anti-shake positioning of the bridge type grab ship unloader based on the self-adaptive decoupling sliding mode is characterized by comprising the following steps of: S1, aiming at a bridge grab ship unloader, defining key operation parameters of equipment, wherein the key operation parameters are core parameters representing structural characteristics and motion states of the equipment and are used for constructing dynamic association of equipment motion and load swing; s2, based on Euler-Lagrange law, establishing a dynamics model of the bridge type grab ship unloader by utilizing the key operation parameters, wherein the dynamics model reflects a coupling relation between a trolley motion state and a grab swing state; S3, defining state variables, wherein the state variables cover parameters representing the motion state of the trolley and parameters representing the swing state of the grab bucket, the dynamic model is converted into a plurality of subsystems which are convenient for the design of a controller by using the state variables, and each subsystem describes the dynamic change relation of the corresponding state quantity and comprises association items related to the driving control of the trolley; S4, defining a trolley positioning error and a grab bucket swinging error based on the state variables, respectively obtaining the change rates of the two types of errors, and constructing a primary sliding die surface by utilizing the trolley positioning error and the change rate thereof and the grab bucket swinging error and the change rate thereof, wherein the primary sliding die surface is related to basic states of trolley positioning control and grab bucket anti-swinging control; S5, designing a self-adaptive intermediate variable, wherein the self-adaptive intermediate variable comprises a dynamically adjusted self-adaptive parameter, the self-adaptive parameter is self-adaptively adapted according to the state of a sliding mode surface related to the swing of the grab bucket, and a secondary sliding mode surface is constructed through the association of the self-adaptive intermediate variable and the primary sliding mode surface, so that decoupling control of the positioning of the trolley and the swing of the grab bucket is realized; S6, analyzing dynamic characteristics of the secondary sliding mode surface, substituting the dynamic characteristics into the dynamic relation of each subsystem, deriving a basic control module based on core constraint conditions of sliding mode control, and designing a self-adaptive approach law, wherein the self-adaptive approach law comprises dynamic adjustment items adapting to different error working conditions, can give consideration to rapid convergence and buffeting suppression of system errors, and adaptively adjusts system disturbance rejection gain according to the output of the basic control module, and combines the basic control module with the self-adaptive approach law to form a self-adaptive decoupling sliding mode total controller; S7, a control signal output by the self-adaptive decoupling sliding mode master controller acts on the bridge type grab ship unloader, the control signal drives the trolley to complete movement from the initial position to the target position, meanwhile, the grab bucket is restrained from swinging through decoupling control action, and finally the condition that the grab bucket swings when the trolley is in place is achieved, and the preset stable requirement is met.
2. The bridge type grab ship unloader anti-shake positioning control method based on the self-adaptive decoupling sliding mode according to claim 1, wherein the key operation parameters comprise trolley quality, load quality, steel wire rope length, grab bucket swinging angle, gravity acceleration and trolley driving control force, and the parameters are obtained through equipment design file inquiry or field actual measurement.
3. The bridge type grab ship unloader anti-shake positioning control method based on the self-adaptive decoupling sliding mode according to claim 1, wherein in the state variables, parameters representing the motion state of the trolley comprise the trolley position and the trolley speed, and parameters representing the grab swing state comprise the grab swing angle and the grab swing angular speed.
4. The bridge type grab ship unloader anti-shake positioning control method based on the self-adaptive decoupling sliding mode according to claim 1, wherein the primary sliding mode surface comprises a position-related primary sliding mode surface and a swing angle-related primary sliding mode surface, the position-related primary sliding mode surface is constructed through weighted summation of a trolley positioning error and a change rate of the trolley positioning error, the swing angle-related primary sliding mode surface is constructed through weighted summation of a grab swing error and the change rate of the grab swing error, and coefficients used for weighting are positive constants.
5. The bridge grab ship unloader anti-shake positioning control method based on the self-adaptive decoupling sliding mode according to claim 1, wherein the self-adaptive parameters comprise a first self-adaptive parameter and a second self-adaptive parameter, the value range of the first self-adaptive parameter is zero to one, the value of the second self-adaptive parameter is larger than zero, and dynamic adjustment of the first self-adaptive parameter and the second self-adaptive parameter aims at considering the strong coupling rapid convergence requirement when the system is in a large error and the weak coupling weak buffeting requirement when the system is in a small error.
6. The bridge type grab ship unloader anti-shake positioning control method based on the self-adaptive decoupling sliding mode according to claim 4, wherein the secondary sliding mode surface is constructed through the weighted summation of the difference value of the trolley positioning error and the self-adaptive intermediate variable and the trolley positioning error change rate, and the weighting process is characterized in that the weighting process uses the weighting coefficient of the primary sliding mode surface which is related to the position to ensure the consistency and the continuity of the construction of the sliding mode surface.
7. The bridge type grab ship unloader anti-shake positioning control method based on the self-adaptive decoupling sliding mode according to claim 1, wherein the core constraint condition of the sliding mode control is that the derivative of the secondary sliding mode surface is zero, and when a basic control module is deduced, the nonlinear item influence in a system can be eliminated by substituting the dynamic relation of each subsystem, so that the stability of basic control performance is ensured.
8. The bridge grab ship unloader anti-shake positioning control method based on the self-adaptive decoupling sliding mode according to claim 1, wherein the dynamic adjustment items of the self-adaptive approach law comprise a power-of-order item, a high-order power attenuation item, a self-adaptive scaling factor and a linear item, wherein the power-of-order item is used for rapid convergence under a large-error working condition, the high-order power attenuation item is used for buffeting suppression under a small-error working condition, and the self-adaptive scaling factor dynamically adjusts system gain according to the output of a basic control module, so that system disturbance rejection robustness is improved.
9. The bridge type grab ship unloader anti-shake positioning control method based on the self-adaptive decoupling sliding mode according to claim 1, wherein the plurality of subsystems are specifically two subsystems, the first subsystem describes a dynamic change relation between a trolley position and a trolley speed, the second subsystem describes a dynamic change relation between a grab bucket swing angle and a grab bucket swing angular speed, and the two subsystems realize dynamic coupling through a trolley driving control association.
10. The bridge type grab ship unloader anti-shake positioning control method based on the self-adaptive decoupling sliding mode according to claim 1, wherein the preset stability requirement is that the grab bucket swing angle and the grab bucket swing angular speed are zero when the trolley is in place.

Description

Bridge type grab ship unloader anti-shake positioning control method based on self-adaptive decoupling sliding mode Technical Field The invention relates to the technical field of hoisting and transportation machinery control, in particular to an anti-shake positioning control method of a bridge type grab ship unloader based on a self-adaptive decoupling sliding mode. Background The bridge type grab ship unloader is used as an effective hoisting and transporting machine and widely applied to industrial places such as bulk cargo wharfs, but in actual production operation, factors such as acceleration, deceleration, friction force, wind disturbance and the like of a trolley can cause shaking of the grab, so that the operation efficiency is seriously affected, and safety accidents are easily caused. Therefore, the research on the anti-shake positioning control strategy of the ship unloader has important significance. At present, the anti-shake positioning control method of the ship unloader can be divided into open loop control and closed loop control. The open loop control includes input shaping method, track planning control, etc. The method can realize good control performance in windless environments such as laboratories, but is inevitably affected by factors such as wind disturbance in the actual dock loading and unloading process, and the control performance of open loop control is seriously reduced. In contrast, closed-loop control in which the control signal is modified in real time according to the system state feedback information has better control performance. The sliding mode control is widely applied to the design of a nonlinear system controller due to the simple structure and good robustness to system parameter perturbation and external disturbance. But its discontinuous switching characteristics are prone to buffeting problems. In this regard, a good control strategy needs to be designed to improve the convergence rate of the system, reduce the buffeting of the system, and improve the operating efficiency of the ship unloader. Disclosure of Invention The invention provides a bridge type grab ship unloader anti-shake positioning control method based on a self-adaptive decoupling sliding mode, which is used for realizing rapid in-place positioning of a trolley and grab swing inhibition. A bridge type grab ship unloader anti-shake positioning control method based on a self-adaptive decoupling sliding mode comprises the following steps: S1, aiming at a bridge grab ship unloader, defining key operation parameters of equipment, wherein the key operation parameters are core parameters representing structural characteristics and motion states of the equipment and are used for constructing dynamic association of equipment motion and load swing; s2, based on Euler-Lagrange law, establishing a dynamics model of the bridge type grab ship unloader by utilizing the key operation parameters, wherein the dynamics model reflects a coupling relation between a trolley motion state and a grab swing state; S3, defining state variables, wherein the state variables cover parameters representing the motion state of the trolley and parameters representing the swing state of the grab bucket, the dynamic model is converted into a plurality of subsystems which are convenient for the design of a controller by using the state variables, and each subsystem describes the dynamic change relation of the corresponding state quantity and comprises association items related to the driving control of the trolley; S4, defining a trolley positioning error and a grab bucket swinging error based on the state variables, respectively obtaining the change rates of the two types of errors, and constructing a primary sliding die surface by utilizing the trolley positioning error and the change rate thereof and the grab bucket swinging error and the change rate thereof, wherein the primary sliding die surface is related to basic states of trolley positioning control and grab bucket anti-swinging control; S5, designing a self-adaptive intermediate variable, wherein the self-adaptive intermediate variable comprises a self-adaptive parameter capable of being dynamically adjusted, the self-adaptive parameter is self-adaptively adapted according to the state of a sliding mode surface related to the swing of the grab bucket, and a secondary sliding mode surface is constructed through the association of the self-adaptive intermediate variable and the primary sliding mode surface, so that decoupling control of the positioning of the trolley and the swing of the grab bucket is realized; S6, analyzing dynamic characteristics of the secondary sliding mode surface, substituting the dynamic characteristics into the dynamic relation of each subsystem, deriving a basic control module based on core constraint conditions of sliding mode control, and designing an adaptive approach law, wherein the adaptive approach law comprises dynamic adjustment items adap