The invention discloses a fuzzy control method for a lifting bridge crane system with persistent disturbances. The fuzzy control method comprises the following steps that Step one, when a load is subjected to an external persistent disturbance force, a mathematical model of the lifting bridge crane system with the persistent disturbances is established by introducing coordinate transformation; Step two, based on the mathematical model of the lifting bridge crane system in the step one, a fuzzy disturbance observer is established, and accurate evaluation on the external disturbances is realized; and Step three, an energy-based fuzzy controller is established by introducing a generalized signal gathering trolley motion and load swing. According to the fuzzy control method, the external disturbances are completely compensated, and the fuzzy control method has very important theoretical significance in analyzing the robustness of a rope length variable crane system.
Fuzzy control method for lifting bridge crane system with persistent disturbances
2016-02-17
Patent
Electronic Resource
English
IPC: | B66C Krane , CRANES |
European Patent Office | 2024
|