Research On Transportation Control Of Under-actuated Tower Crane

Under-actuated system refers to a kind of nonlinear system in which the number of independent control variables of the system is less than the number of its degrees of system freedom Compared with the full-actuated machanical system,the under-actuated system reduces the number of independent control variables,reduces the weight and the design cost of the system,saves the energy and enhances the flexibility of the system.At the same time,due to the simple structure of the system,it is convenient to construct and analyze the machanical experiments.In this paper,the double-pendulum tower crane is taken as the research object,and a variety of stability control strategies are proposed for this kind of under-actuated system.The main work of this paper is as follows:Firstly,the Lagrange energy method is used to model the double-pendulum tower crane system in three-dimensional space,and its kinematical equation is derived to build a physical model.Secondly,the passivity of double-pendulum tower crane is verified,and the feedback control quantity is obtained by the passivity theory.Finally,the varification analysis is carried out on simulation software.Thirdly,by improving the traditional input shaping algorithm,the SI input shaping control algorithm is designed,which greatly improves the robustness of the control system.The design of constraint conditions,the setting of optimization initial value and the optimization iteration method in the process of pulse sequence calculaiton are introduced,and finally verified and 'analyzed on the simulation software.Fourthly,by improving the traditional fuzzy control algorithm,a dynamic weighted fuzzy algorithm with single input rule is designed,which effectively simplifies the design process of fuzzy rules,and introduces the design principle of fuzzy rules and the selection principle of algorithm parameters.Finally,it is verified and analyzed on the simulation software.Fifthly,the VR model of the double-pendulum tower crane is built by using VR virtual reality simulation software built in MATLAB,and the dynamic demonstration of automatic control of the double-pendulum tower crane is realized by using the above three control algorithms,and the control effect is intuitively displayed.