LQR-based anti-sway control method and system for lifting system

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United States of America Patent

PATENT NO 11708248
APP PUB NO 20230107388A1
SERIAL NO

17799166

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Abstract

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The present invention provides a linear quadratic regulator (LQR)-based anti-sway control method for a hoisting 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 vm and maximum acceleration am of the trolley; establishing a dynamic model of the hoisting 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 hoisting 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 hoisting system; tracking the planned real-time path of the trolley by a Q matrix and an R matrix using a linear quadratic regulator controller. The LQR-based anti-sway control method for a hoisting system provided by the present invention can make the hoisting system operate more smoothly, reduce sway during operation, and quickly eliminate sway when in place while observing the lumped disturbance using an extended state observer.

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Patent Owner(s)

  • SHANGHAI MASTER MATRIX INFORMATION TECHNOLOGY CO., LTD.

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Feng, Zhi Shanghai, CN 18 15

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