基于自适应分层滑模的塔式起重机防摆与定位控制

Anti-swing and positioning control of tower cranes based on adaptive hierarchical sliding mode

针对三维空间中呈现二级摆结构的塔式起重机的防摆与定位控制问题,考虑变幅回转联合运行工况,提出了一种自适应分层滑模控制方案。首先将塔式起重机系统分为定位子系统、一级摆角子系统和二级摆角子系统,设计了分层滑模控制律;然后设计了自适应律,提高了系统对参数的适应性和对外在干扰的抑制性能;最后验证了系统的稳定性并对系统进行了仿真。仿真结果表明,系统在受到瞬时扰动时,自适应律可估算出扰动大小,控制器能快速做出反应,调整控制力/力矩以抵消瞬时扰动,使瞬时扰动不对系统的位置以及吊钩和负载的摆角造成明显影响。该文自适应分层滑模控制器能在一定程度上抑制瞬时扰动造成的吊钩和负载的摆动,具有较好的鲁棒性。

To solve the anti-swing positioning control problem of a tower crane with two-stage swing structure in three-dimensional space,an adaptive hierarchical sliding mode control scheme is proposed considering the combined operation condition of luffing and slewing.Firstly,the tower crane system is divided into positioning subsystem,one-stage swing angle subsystem and two-stage swing angle subsystem,and a hierarchical sliding mode control law is designed;then an adaptive law is designed to improve the adaptability of the system to parameters and the suppression performance of external interference;finally,the stability of the system is verified and the system is simulated.The simulation results show that when the system is subjected to instantaneous disturbances,the adaptive law estimates the size of the disturbance,and the controller quickly respondes by adjusting the control force/torque to offset the instantaneous disturbance,so that the instantaneous disturbance does not have a significant impact on the position of the system and the swing angle of the hook and load.The adaptive layered sliding mode controller here suppresses the swinging of hooks and loads caused by instantaneous disturbances with good robustness.