Research On Adaptive Neural Networks Control For Reach Stacker With Elastic Deformation

The reach stacker can be used as a multi-purpose mobile container handling machine,which is mainly used for international container lifting and unloading operations.However,in the work,the vibration problem is easily generated due to the fact that the reach stacker is in a heavy load state,thereby the efficiency is reduced.In order to improve the performance of the reach stacker,a control method that can suppress the vibration effectively is proposed,and the simulation experiment is carried out to get the design result.The main research work of this paper is as follows:The structure and working principle of the reach stacker are introduced,and the boom which mainly causes the elastic deformation of the reach stacker is analyzed.As the same time,the model is simplified.An improved neural network PD control method is explored.The PD controller input is used as a neural networks(NNs)input,and the PD control performance is improved based on the NNs optimization parameter method.The flexible arm is simulated by MATLAB,which verifies that the PD controller based on NNs has strong robustness and adaptability.An optimized controller for online reinforcement learning NNs is proposed.First,a discrete model of the flexible manipulator is established.Secondly,the reinforcement learning method is adopted in the controller design.It consists of two modules: actor network and critic network.The action network is employed to generate optimal control signals,and the critic network evaluates the performance of the actor network.Finally,the numerical simulation is carried out with MATLAB software,and the experimental results prove the effectiveness of the controller.A full state feedback control based on sliding mode method designed.The unknown function and external disturbance are considered by the system,and the learning performance of the full state feedback NNs controller and the robust performance of the sliding mode controller are combined.The idea is applied to design the controller.The simulation of the flexible arm with external interference is carried out.The experimental results show that this method has obvious effect on the vibration suppression of the flexible manipulator.In summary,the vibration control for elastic deformation is studied in this paper.The theoretical basis of the control research on the reach stacker boom is given,which has certain engineering application value.