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针对变绳长条件下二维欠驱动桥式吊车的防摇定位控制问题,提出了一种基于动态切换函数的动态滑模控制方法。该方法将含有位移摆角变量和吊绳变量的两滑模面通过微分环节分别设计新的动态滑模面,新的滑模面与系统的控制输入的一阶导数有关。该控制器结构简单,可实现桥吊变绳长情况下的小车快速定位和负载的防摆控制,并能有效地减少控制器的抖振现象。给出了该控制器的稳定性分析。最后仿真结果证明了该设计方法的有效性。
Aiming at the anti-rolling position control problem of two-dimensional under-driven overhead traveling crane with variable rope length, a dynamic sliding mode control method based on dynamic switching function is proposed. In this method, a new dynamic sliding mode surface is designed respectively by two sliding mode surfaces with displacement swing angle variables and sling variables through differential links. The new sliding mode surface is related to the first derivative of the system control input. The controller has the advantages of simple structure, rapid positioning of the trolley and anti-swing control of the load under the condition of variable length of the bridge crane, and can effectively reduce the chattering of the controller. The stability analysis of the controller is given. The simulation results show the validity of the design method.