Bridge crane control method based on sliding mode surface

Abstract

The invention discloses a bridge crane control method based on a sliding mode surface, and provides a novel control method based on a sliding mode surface for positioning and anti-swing tasks in a bridge crane conveying process. The method comprises the steps that an original crane model is converted into a line-similar mode through coordination transformation at first; then, the novel sliding mode surface is designed, and a corresponding nonlinear control algorithm is built for keeping the system state always in the sliding mode surface; and finally, the Lyapunov method strictly proves that a system balance point can reach approximate exponent stability as long as parameter selection meets conditions given in the method. Compared with an existing crane control method (which can only ensure asymptotic convergence), the method is higher in convergence speed (approximate to exponential convergence). In addition, control input is smoother compared with general full-state feedback methods and is beneficial to practical application. Stimulation and experiment results prove that the method is high in positioning speed, good in anti-swing effect and quite high in robustness for various kinds of external disturbance.

Description

technical field [0001] The invention belongs to the field of nonlinear underactuated bridge crane control, in particular to a nonlinear bridge crane control method based on a sliding surface. Background technique [0002] The underactuated overhead traveling crane is a widely used material transportation tool and plays a very important role in many industries. The main task of an overhead crane is to transport the load quickly and accurately to its target position with as little sway as possible. However, due to the underactuated nature of the crane, it is difficult to achieve both. At present, crane control still mainly relies on manual operation, and its transportation efficiency is relatively low, the trolley positioning and load swing elimination effect are poor, and it is easy to cause safety accidents due to many reasons such as operator fatigue. In order to solve these problems, in recent years, many scholars in the field of control have devoted themselves to the re...

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Problems solved by technology

[0004] However, the existing control methods can only guarantee the asymptotic stability of the equilibrium point of the closed-loop system at most, and its positioning and swing elimination effects sometimes still cannot meet the requirements.

In addition, most closed-loop control algo

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