欠驱动双摆吊车滑模控制研究

Research on Sliding Mode Control of Underactuated Double Pendulum Crane System

基于较为复杂的双摆桥吊系统动力学特性模型,提出了一种线性滑模控制方法;基于改进等速趋近律设计了新型滑模控制器,能够有效削弱系统抖振。通过仿真对比实验,将本文控制方法与分层滑模以及PID控制方法对比分析,验证了本文控制方法的高效性;通过系统鲁棒性测试,证明了控制方法对外界干扰以及不确定因素的强鲁棒性。

A linear sliding mode control method was proposed based on the complex dynamic model of double pendulum overhead crane system,then a new sliding mode controller was designed based on the improved approach law,which can effectively weaken the system chattering.The simulation comparison experiment was carried out.And the control method was compared with the hierarchical sliding mode and PID control method to verify the efficiency of the control method.The robustness test was proved to be robust to external disturbances and uncertain factors.