Over-damped ACPD anti-swing control method of double pendulum crane
Aiming at the problem that the load swing angle of the underactuated double pendulum crane system is difficult to measure effectively in practical work and the anti-swing time is long,an overdamped auto-coupling PD method without load swing angle feedback is proposed.Firstly,the coupling of control output is solved by coordinate transformation.Then,the virtual control quantity is introduced to decompose the double pendulum crane system into outer ring displacement control and inner ring hook swing angle control.At the same time,the influence of load swing and external disturbance are defined as total disturbance,and then it is equivalently mapped into a linear disturbance system.In order to further improve the robustness of the control system,based on the ACPID control theory,the idea of auto-coupling PD critical damping control system is proposed.Based on this,the over-damped auto-coupling PD controllers of the outer loop and the inner loop are designed respectively.The robust stability and anti-disturbance robustness of the control system are analyzed theoretically.Finally,the simulation results show that the control method can realize the anti-swing control of the double pendulum crane.The overdamped auto-coupling PD method not only has fast response speed,but also does not depend on model parameters and has good robustness to external disturbances,which can effectively solve the existing problems of the double pendulum crane system.
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