基于二维动态滑模变结构的桥吊防摆定位控制策略与方法

Anti-swing and Positioning Control of Overhead Cranes Based on the Two-dimensional Dynamical Sliding Mode Variable Structure

针对二维欠驱动桥式起重机的防摆定位控制问题,提出了一种新型动态滑模变结构控制方法,该方法在普通动态滑模策略的滑模面设计中揉入了驱动控制力的一阶微分,通过积分环节得到时间域连续的驱动控制力,同时采用Sigmoid函数作为切换函数,籍此实现桥吊系统抑制抖振的目的.本文利用李雅普诺夫函数证明该方法具备全局稳定性,并进行了仿真分析.对比实验表明:本文提出的二维动态滑模变结构的桥吊防摆定位控制更加快速明显,其抑制抖振的效果更加有效,并且对不同的负载质量和摩擦阻尼具有更强的鲁棒性.

In light of the anti-swing and positioning problems of two-dimensional bridge cranes, a new dynamic sliding mode variable structure control method is proposed. The first order differential quantity of the drive control force is put into the design of sliding surface. Chattering suppression is achieved through the continuous driving control force in the time domain, and using the Sigmoid function as the switching function. The global stability of the proposed method is proved by the Lyapunovu energy theory, and a series of simulations are carried out. The results show that the control strategy is quicker and more effective in chattering suppression, and is of greater robustness for different load masses and friction damping.