桥式起重机分布式质量吊重系统双摆滑模控制

Double pendulum sliding mode control for distributed mass payload system of overhead crane

随着吊装作业的多元化发展,起重机吊装对象也从传统的质点式吊重向分布式质量吊重方向发展。针对桥式起重机在吊装分布式质量吊重时吊重的大摆角抑制和小车定位控制问题,提出了两种基于滑模控制理论的、用于吊重消摆和小车快速定位的方法。首先,综合考虑了桥式起重机吊装对象的结构特征、小车电机的驱动特性、摩擦阻力以及环境中的随机扰动对吊装作业的影响,建立了桥式起重机分布式质量吊重系统的非线性双摆动力学模型;然后,设计了桥式起重机分布式质量吊重系统的非线性双摆动力学普通滑模控制器(OSMC)和分层滑模控制器(HSMC),采用Lyapunov函数和Barbalat引理证明了闭环系统的稳定性;最后,利用数值仿真研究了OSMC和HSMC在分布式质量吊重减摆控制方面的性能差异。仿真及研究结果表明:与OSMC相比,采用HSMC不仅可以在12 s内实现小车精确定位目的,而且可以实现对分布式质量吊重在5°~9°摆动范围下的快速抑制目的,完成了对系统状态变量的有效控制;同时,对比结果表明HSMC对起重机系统内部和外部扰动变化有很强的鲁棒性和抗干扰性。

Due to the diverse development of lifting operations,the lifting objects of cranes have changed from traditional mass point payload to distributed mass payload.Aiming at the problems of the payload large swing angle suppression and trolley positioning control of overhead crane when lifting the distributed mass payload,two methods based on sliding mode control theory were proposed to eliminate the payload swing and achieve the trolley quick positioning.Firstly,the effects of the structural characteristics of the lifting object of the overhead crane,the driving characteristics of the trolley motor,the friction resistance and the random disturbance in the environment on the lifting operation were considered comprehensively,a nonlinear double-pendulum dynamics model of the distributed mass lifting system of the overhead crane was established.Then,the nonlinear double pendulum dynamic ordinary sliding mode controller(OSMC)and hierarchical sliding mode controller(HSMC)for the distributed mass payload system of the overhead crane were designed,and the stability of the closed-loop system was proved by Lyapunov function and Barbalat lemma.Finally,the performance difference between OSMC and HSMC in the control of distributed mass payload anti-swing was studied by numerical simulation.The simulation and research results show that compared with the OSMC,the HSMC not only achieve accurate positioning of the trolley within 12 s,but also realize fast suppression of the distributed mass payload in the swing range from 5°to 9°,and complete the effective control of the state variables of the system.Meanwhile,the comparison results show that HSMC has strong robustness and anti-interference to the internal and external disturbance changes of the overhead crane system.