基于改进非线性趋近律的桥式起重机滑模控制

Sliding Mode Control for Overhead Crane System Based on Improved Nonlinear Reaching Method

针对二维定绳长欠驱动桥式起重机系统的定位与防摆问题,提出了一种基于趋近律的滑模控制方法。通过采用分层滑模控制,对起重机的两个子系统分别设计滑模面,并求取等效控制量;之后组合成第二级滑模面,将非线性趋近律引入控制系统并求取切换控制量,最终得到系统控制输入量。通过仿真实验研究,证明了设计的控制方法的可行性与有效性。

Aiming at the problem of positioning and anti-swing of two-dimensional fixed-length underactuated overhead crane system,this paper proposed a sliding mode control method based on the approach method.By adopting the hierarchical sliding mode control,the sliding surface of the two subsystems of the crane was designed separately at first,and the equivalent control amount was obtained.Then,the sliding surface was linearly combined to obtain the second level sliding surface,and the nonlinear reaching method was introduced into the system to obtain the switching control,and the system control input was obtained finally.Through the numerical simulation test,the control effect of the method was analyzed,and the effectiveness of the designed control method was proved.