摘要
针对舰载垂直装填机械的防摇控制,提出一种分层滑模控制方法,并利用Lyapunov稳定性判据进行了稳定性证明;为消除滑模控制所产生的系统"抖振",利用模糊调节原理对滑模参数进行调节。仿真结果表明,本文给出的分层模糊滑模防摇控制器具有良好的动态性能,能在保证系统稳定条件下,达到减小摇摆的目的。
Ahierarchical sliding-mode control method was proposed for anti-swing control of ship-borne vertical loader machine,and Lyapunov stability criterion was used to prove its stablilty.To avoid the chattering problem due to hierarchical sliding-mode control,a fuzzy controller system was designed to adjust the parameters of sliding mode.The simulation results show that this hierarchical fuzzy sliding-mode controller had a good dynamic performance,and can meet the requirement of anti-swing control and guarantee the system stability.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2011年第8期957-962,共6页
Acta Armamentarii
关键词
自动控制技术
舰载垂直装填机械
分层模糊滑模控制
仿真
automatic control technology
ship-borne vertical loader machine
hierarchical fuzzy sliding-mode control
simulation
