基于双层滑模的舰载垂直装填机械防摆控制

Anti-Swing Control of Ship-borne Vertical Loader Machine Based on Hierarchical Sliding Mode Control

为了提高舰载垂直装填机械系统的自动化程度并具备海上装填能力,设计一个防摇控制器能够实现在装填过程中抑制吊重的摇摆,达到防摇的目的。将舰载垂直装填机械系统看作一类特殊的机器人机械手系统,并考虑其海上作业时的工作环境,利用机器人动力学原理建立其动基座条件下的动力学模型。针对模型的复杂、强非线性、欠驱动、具有时变参数等特点,建立了一个降阶模型以方便控制器的设计,采用取特征点构造变参数滑模函数的双层滑模变结构控制方法对防摇控制器进行设计。仿真研究表明,所设计的分层滑模变结构控制器各层滑模面都能达到稳定,并在防摇控制器的控制下,回转角能够跟踪所设计的轨迹的同时能有效地抑制吊重的摆角,达到防摇的目的。

To improve the efficiency of ship-borne vertical loader machine and load ability on ocean,an anti-swing controller of load is presented.Using the principle of robotic dynamics,the ship-borne vertical loader machine is taken as an robotic manipulator,and a dynamic model with full consideration of the influence of the swing of ship working on oncean is constructed.For the model is complicated,strong non-liner,under-actuated and time-varied,a simplified model is proposed.By using the method of selecting character points to settle time-varied problem,a controller is designed based on sliding mode control with two sliding fuctions.The simulation results show that the controller designed can reach stable,and can weaken the swing of the load.