桥式吊车基于二阶滑模干扰观测器的连续消摆控制

Continuous Anti-swing Control of Bridge Crane Based on Second-order Sliding Mode Disturbance Observer

针对二维欠驱动桥式吊车系统,设计一种基于super-twisting二阶滑模干扰观测器的连续消摆控制器。将负载的摆动运动并入台车的动态中以设计桥式吊车系统的滑动面,并利用super-twisting二阶滑模干扰观测器对被控系统的复合干扰进行估计。采用super-twisting二阶滑模干扰观测器的控制注入项作为补偿控制,所设计的消摆控制器将补偿控制和基于快速幂次趋近律的控制律相结合,能够有效消除复合干扰对闭环系统性能的不良影响。基于Lyapunov稳定性理论证明了台车的定位误差和负载的摆动角度渐近收敛于零,数值仿真实验结果进一步验证了所设计的消摆控制器的有效性和鲁棒性。

A continuous anti-swing controller based on a super-twisting second-order sliding mode disturbance observer is designed for two-dimensional underactuated bridge crane system.The sliding surface of the bridge crane system is designed by incorporating the swing motion of the load into the dynamics of the trolley,and a super-twisting second-order sliding mode disturbance observer is utilized to estimate the compound disturbances of the controlled system.The control injection term of the super-twisting second-order sliding mode disturbance observer is used as the compensation control,and the designed anti-swing controller combines the compensation control with the control law based on fast power reaching law,which can effectively eliminate the adverse effects of the compound disturbances upon the closed-loop system performance.