摘要
针对变绳长条件下欠驱动桥式吊车系统的防摇和定位控制问题,提出了一种基于时变滑模的桥吊控制方法;该方法采用多滑模结构控制,在桥吊绳长变化的情况下,较好地实现了对桥吊小车位置和负载摆角的控制;该方法利用时变滑模面,减少了滑模面到达阶段的时间,提高了控制器鲁棒性;同时控制器设计中还采用了一种新的方法来削弱滑模控制器的抖振现象;利用李雅普诺夫理论证明了该控制方法的全局稳定性和收敛性,仿真结果验证了该方法的有效性。
To solve the problem of the anti swing and positioning control of a underactuated overhead crane with rope length variations, a time varying sliding mode controller is designed. This method uses multi-- sliding mode structure to control the position of trolley and anti swing of the load well under the rope length variations. This method can reduce the reaching time of sliding--mode and improve the robustness of controller using the time--varying sliding mode. At the same time, the controller adopts a new method to decrease the chattering of the sliding--mode control. The global stability and the convergence of the designed controller are proved by using Lyapunov method. The simulation results have proved the effectiveness of the proposed control algorithm.
出处
《计算机测量与控制》
北大核心
2014年第1期109-112,共4页
Computer Measurement &Control
基金
交通部应用基础项目(主干学科)(2013329810190)
上海市自然科学基金(13ZR1418800)
上海市教委科研创新项目(12YZ115)
上海海事大学校基金(上海海事大学研究生学术新人培育计划)
关键词
桥式吊车
时变滑模
抖振
欠驱动
overhead crane
time--varying sliding--mode
chattering
underactuated system
