未知扰动下双起升桥吊时变滑模同步控制

Time-varying Sliding Mode Synchronous Control of Double-container Lifting Overhead Crane with Unknown Disturbances

为实现双起升桥吊系统在未知扰动下的同步控制,提出了一种基于变增益扩张状态观测器的时变滑模控制方案。首先,基于耦合误差设计了一种新的时变滑模面,可有效消除趋近阶段,确保初始状态系统的全局鲁棒性;其次,改进的超螺旋算法有效抑制控制器中的抖振现象;然后,变增益扩张状态观测器的设计是为了估计补偿系统中存在的非匹配干扰,有效增强了控制器的鲁棒性;此外,李雅普诺夫理论用于证明受控系统的稳定性。最后,通过仿真验证了所设计的控制器可以有效实现双起升桥吊系统的同步控制。

In order to realize the synchronous control of the double-container lifting overhead crane system under unknown disturbances, a time-varying sliding mode control scheme based on the variable gain extended state observer is proposed. Firstly, a novel time-varying sliding surface is designed based on the cross-coupling error, which can eliminate the reaching phase effectively and ensure the global robustness of the initial state of the system. Secondly, an improved super-twisting algorithm can suppress the chattering phenomenon in the controller effectively. Then, the variable gain extended state observer is designed to estimate and compensate the mismatched disturbances in the system, which enhances the robustness of the controller effectively. In addition, the stability of the proposed controlled system is proved by using the Lyapunov stability theory. Finally,it is verified through simulation that the designed controller can effectively realize the synchronous control of the double-container lifting overhead crane system.