基于自适应滑模控制的随车起重机控制特性分析

Control Characteristics Analysis of Lorry-mounted Crane Based on Adaptive Sliding Mode Control

为提高随车起重机的工作效率、改善控制性能、降低操作过程工作强度,对随车起重机液压控制系统的控制性能进行分析,提出一种自适应滑模控制方法。通过分析随车起重机液压控制系统工作原理和数学模型,设计了自适应滑模控制器;对比分析自适应滑模控制和PID控制系统的控制特性。结果表明:采用自适应滑模控制的随车起重机液压控制系统具有良好的稳定性、动态控制性能和伺服跟踪性能。

In order to improve the efficiency and control performance, reduce operation intensity of lorry-mounted crane, the control performance of the hydraulic system of the lorry-mounted crane was analyzed, and an adaptive sliding mode control method was proposed. An adaptive sliding mode controller was designed by analyzing the working principle and mathematical model of the hydraulic control system of the lorry-mounted crane;the control characteristics of the adaptive sliding mode control system and PID control system were compared and analyzed. The results show that the hydraulic control system with adaptive sliding mode control has good stability, dynamic control performance and servo tracking performance.