LQR-BASED ANTI-SWAY CONTROL METHOD AND SYSTEM FOR LIFTING SYSTEM

摘要

A linear quadratic regulator (LQR)-based anti-sway control method for a lifting system, comprising the following steps: obtaining a target position of a trolley, and obtaining a planned real-time path of the trolley according to the maximum velocity v m and maximum acceleration a m of the trolley; establishing a dynamic model of the lifting system according to a Lagrange's equation, for the Lagrange's equation, the trolley displacement x, the spreader sway angle θ, and the rope length l of the lifting system being selected as generalized coordinate directions; observing lumped disturbance d using an extended state observer, and compensating for same in a controller, the lumped disturbance d comprising the dynamic model error and external disturbance to the lifting system; tracking the planned real-time path of the trolley by a Q matrix and an R matrix using a LQR controller. While observing the lumped disturbance using an extended state observer, the LQR-based anti-sway control method for a lifting system can make lifting systems operate more smoothly, reduce sway during operation, and quickly eliminate sway when in place.