基于视觉反馈的桥吊自适应滑模防摇控制

Adaptive Sliding Mode Anti-swing Control for Overhead Crane Based on Visual Feedback

为了提高桥式吊车的运行效率,提出了一种基于视觉反馈的桥吊控制方案。首先,采用单目视觉系统、改进的均值漂移算法和最小面积圆法,获取负载的摆角,同时,提出了一种信息融合方案,用于提高检测的精度。其次,提出使用自适应积分滑模面设计控制器。控制器中通过使用积分环节,提高系统的鲁棒性,用于应对视觉系统中反馈延迟的影响,自适应项则用于改善动态性能。此外,为了削弱抖振现象,设计了一种新的自适应趋近律。其中的自适应切换增益能够灵活抑制外部扰动,提高系统的鲁棒性。最后,利用李雅普诺夫理论分析了控制系统的稳定性,并通过仿真验证了所提控制器的有效性。

In order to improve the operation efficiency of overhead crane,a control scheme of overhead crane based on visual feedback is proposed.Firstly,using a monocular camera system,an improved mean shift algorithm and a minimum area circle method are used to obtain the swing angle of the payload.At the same time,data fusion is proposed to improve the accuracy of detection.Secondly,an adaptive integral sliding mode surface is proposed to design the controller.The integral term used in controller provides robustness to cope with the feedback delay in the visual system,while the adaptive term improves dynamic performance.Then,a new adaptive reaching law is designed to reduce chattering phenomenon.The adaptive switching gain can flexibly suppress the external disturbance and improve the robustness of the system.Finally,the stability of the control system is analyzed by Lyapunov theory.The effectiveness of the proposed control scheme is verified through simulation.