基于模糊滑模的港口桥式起重机吊重防摆控制

Anti-swing Control of Port Bridge Crane Based on Fuzzy Sliding Mode

模糊滑模控制方法能够自适应地调整滑模面的参数,更好地适应不同工况下的防摆需求。为此,研究基于模糊滑模的港口桥式起重机吊重防摆控制方法,提高桥式起重机的工作稳定性和安全性。通过分析港口桥式起重机动力学模型,发现小车位置与吊重摆角是影响起重机工作稳定性的主要因素;依据小车位置与吊重摆角,定义起重机吊重防摆控制滑模面,结合模糊控制算法,设计模糊滑模控制器,得到起重机吊重防摆控制力矩,消除控制力矩的抖振问题,完成起重机吊重防摆控制。实验证明,该方法可有效实现港口桥式起重机吊重防摆控制,且无抖振问题;在不同小车运行速度时,应用该方法后,均可有效降低吊重摆角,具备较优的起重机吊重防摆控制效果。

The fuzzy sliding mode control method can adjust the parameters of sliding mode surface adaptively,and better adapt to the anti-swing requirements under different working conditions.Therefore,an anti-swing control method based on fuzzy sliding mode is studied to improve the working stability and safety of the bridge crane.By analyzing the dynamics model of port bridge crane,it is found that the position of trolley and the swing angle of lifting load are the main factors affecting the working stability of crane.According to the position of the trolley and the swing angle of the lifting load,the anti-swing control surface of the lifting load is defined.Combined with the fuzzy control algorithm,the fuzzy sliding mode controller is designed to obtain the anti-swing control moment of the lifting load,eliminate the buffeting problem of the control moment,and complete the anti-swing control of the lifting load.Experimental results show that the method can effectively realize the anti-swing control of port bridge crane,and there is no buffeting problem.With the application of this method,the swing angle of lifting load can be reduced effectively at different trolley speeds,and the anti-swing control effect of lifting load is better.