基于组合滑模面的起重机升降系统位置控制

Variable Structure Control Based on Combined Sliding Mode for Crane Hoisting System

针对滑模控制系统中线性滑模面动态性能好、稳态性能较差,而积分滑模面稳态性能好、动态性能较差的特点,结合两者优势,设计了一种线性滑模面和积分滑模面平滑切换的组合滑模面,并将带内负衰减控制的趋近律用于滑模控制中,提高控制系统的动态和稳态性能的同时又削弱了抖振。将该控制策略应用到起重机升降系统中,通过仿真验证了该控制策略的有效性。

For the linear sliding mode control system dynamic performance, steady state performance is poor, the characteristics of integral sliding surface good steady-state performance and dynamic performance is poor, com- bines the two sliding surface design advantages, combined sliding mode of a linear sliding surface and the integral sliding surface smooth switching surface, and the hand negative attenuation control approach law for the sliding mode control, improve the control system dynamic and static performance and chattering. The control strategy is applied to the crane lifting system, validated the effectiveness of the proposed control strategy.