基于改进果蝇优化算法的塔机自适应滑模控制研究

Research on adaptive sliding mode control of tower crane based onimproved fruit fly optimization algorithm

针对部分工况下塔机负载摆角直接测量困难、系统滑模控制器抖振明显以及控制器参数调节复杂等问题,提出了一种基于改进果蝇优化算法的塔机自适应滑模控制方法。首先,根据拉格朗日方程,得到了塔机单摆系统的动力学模型。然后,设计了线性扩张状态观测器,用于观测塔机负载摆动状态,并将观测结果反馈到自适应滑模控制器中;在构造滑模面时,采用双曲正切函数代替常用的符号函数以增加其连续性,从而减小抖振。最后,改进了果蝇优化算法的寻优策略及搜索半径,并对自适应滑模控制器的参数进行了优化。结果表明,所设计的线性扩张状态观测器跟踪观测塔机负载摆角的收敛速度较快且跟踪误差小于1.3%;经改进果蝇优化算法优化后的自适应滑模控制器不仅对负载摆动有较好的抑制作用,而且具有较强的抗干扰性和鲁棒性。所提出的控制方法可在实现精确定位的同时有效避免塔机负载摆动带来的安全隐患,保障工人的安全和工程的顺利开展。

In view of the direct measurement difficulties of load swing angle of tower crane under some working conditions,obvious chattering of the system sliding mode controller and complicated adjustment of controller parameters,an adaptive sliding mode control method for tower crane based on improved fruit fly optimization algorithm was proposed.Firstly,based on the Lagrange equation,the dynamics model of the tower crane single pendulum system was obtained.Then,a linear extended state observer was designed to observe the load swing state of tower crane,and the observation results were fed back to the adaptive sliding mode controller.When constructing sliding mode surface,the hyperbolic tangent function was used instead of the common symbol function to increase its continuity and reduce chattering.Finally,the optimization strategy and search radius of the fruit fly optimization algorithm were improved,and the parameters of the adaptive sliding mode controller were optimized.The results showed that the designed linear extended state observer could track and observe the load swing angle of the tower crane with fast convergence speed and tracking error less than 1.3%.The adaptive sliding mode controller optimized by the improved fruit fly optimization algorithm not only had a good suppression effect on the load swing of tower crane,but also had strong anti-interference and robustness.The proposed control method can effectively avoid safety hazards caused by tower crane load swing while achieving precise positioning,ensuring the safety of workers and the smooth progress of the project.