| In this paper,the operating characteristics of double pendulum bridge crane,such as high underactuation,strong instability,high difficulty of control,low control precision,long time to eliminate pendulum and obvious residual vibration control,are presented in this paper.Using Gauss Pseudospectral(GPM),which has been widely used to solve trajectory planning problems in aerospace,weapon precision strike and unmanned driving and other "high precision" fields,the control problems caused by bridge double pendulum are studied and discussed in depth.So that the control system can develop in the direction of fast,accurate and stable.The main research contents of this paper are as follows:(1)The research status and development trend of bridge anti-pendulum technology and Gao Si pseudospectral method at home and abroad are introduced,and the related methods to solve the optimal control problem are summarized.The general idea of solving the double pendulum problem of bridge is put forward.(2)The exact mathematical model of double pendulum overhead crane is established by Lagrange equation,and the model is analyzed in detail by using efficient virtual prototype software MATLAB and ADAMS.The validity and accuracy of the model are proved.(3)The basic mathematical principle and calculation steps of Gauss pseudospectral method are described in detail,and the theoretical advantages,control accuracy,convergence rate and calculation speed of Gao Si pseudo-spectrum method compared with other numerical calculation methods are analyzed.The real-time optimization framework of Gaussi pseudospectral spectrum is built.(4)On the basis of optimal control theory,the optimal control model of double pendulum bridge in the form of Bolza is established,and the correlation variables,motion constraints and performance indexes are transformed by Gauss pseudospectral method.Finally,it is transformed into a non-linear programming problem which is easy to solve.(5)The rocking time and rocking condition of the double pendulum model under different simulation parameters are compared by Gauss pseudospectral method.The results show that Gauss pseudospectral method is fast and accurate in solving the double pendulumproblem.The control effect of Gauss pseudo-spectrum method and fuzzy PID control method for the same model is compared.The results show that Gauss pseudo-spectrum method has a better control effect than the ordinary control algorithm. |
