基于逆系统滑模方法的起重机速度控制系统设计

Speed Control System Design of Crane Based on Inverse System and Sliding Mode Methods

将多变量的逆系统方法用于起重机升降系统的控制,综合考虑了负载速度控制和电机磁链控制。基于逆系统思想选取负载速度和电机磁链作为起重机升降系统的输出,获得了原系统的α阶积分逆系统,由此设计了非线性解耦控制滑模控制律,以提高系统的综合性能。计算机仿真结果表明,所设计的控制律可有效地提高起重机升降系统的稳定性和负载速度的控制精度。

Multi - variable inverse system method is applied to the crane control system. Based on the inverse system idea, the load speed and the motor flux are chosen to be outputs and the a - order integral inverse system is gotten. Nonlinear decoupling sliding mode control law is designed. The computer simulation shows that the proposed control law may improve the stability and load speed regulation accuracy of the crane.