滑模控制在桥式起重机运动控制中的应用研究

Application of Feedback Linearization and Sliding Mode Control for 2D Overhead Crane

为实现对桥式起重机精确快速跟踪控制的同时有效消除吊重摆动,提高系统的稳定性,结合桥式起重机的系统特性,利用滑模控制技术设计了小车运行和吊重升降的跟踪控制方案;采用局部反馈线性化技术建立了吊重的防摆控制策略;并通过在跟踪控制方案中引入防摆控制策略对转载过程中吊重的摆角进行间接控制,设计出一种针对该非线性系统的新的合成控制器。合成控制器不仅能够实现快速精确地跟踪控制,而且能够有效抑制吊重摆动。同时由于滑模控制具有较好的鲁棒性,对系统参数发生较大变化时的不确定系统,合成控制器依然保持较好的控制效果。仿真结果验证了改进方法的有效性。

To accomplish the precise control of the overhead crane and eliminate the swing angle at the same time, combined with the system＇s features of the overhead crane, a tracking strategy of trolley and cargo was designed based on the sliding mode techniques. And with the partial feedback linearization, the cargo swing vanishing mecha- nism was constructed. To design a combined control strategy, the anti - swing structure was then merged with the tracking scheme of the trolley and cargo hoisting motions to enable the indirect control of the cargo swing angle, which leads to a new controller. The new combined controller not only tracks all the trajectories of the system quickly, but eliminates the swing angle effectively. At the same time, when the parameters of the system changes greatly, the con- troller guarantees the robustness of the system. The simulation results show its effectiveness.