Bridge crane control method based on sliding mode surface
A bridge crane and control method technology, applied in the direction of load hanging components, transportation and packaging, etc., can solve the problems that the positioning and swing elimination effect cannot meet the demand, the control input changes drastically, and the practical application is unfavorable, so as to achieve good positioning and Anti-sway effect, good robustness, effect of improved positioning and anti-sway performance
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[0139] First, the construction of a novel sliding surface based on the transformation model
[0140] An overhead crane can generally be expressed by the following dynamic equations:
[0141] ( M + m ) x ·· + m l θ ·· cos θ - m l θ · 2 sin θ = F a , ml 2 θ ...
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