Bridge crane anti-swing method based on first-order dynamic sliding mode variable structure

Abstract

The invention discloses a bridge crane anti-swing method based on a first-order dynamic sliding mode variable structure. A two-dimensional bridge type crane system model and a crane system control model are constructed respectively; differential processing is carried out on two sliding mode surfaces including a dynamic swing angle change and a dynamic rope length change to obtain a dynamic crane position sliding mode surface s1 and a dynamic rope length sliding mode surface s2; and displacement x, a length l and a swing angle theta in the two-dimensional bridge type crane system model and thedynamic crane position sliding mode surface s1 and the dynamic rope length sliding mode surface s2 in the crane system control model are combined to obtain a relational expression between a horizontaltraction force f1, an along-rope traction force f2 and the displacement x, the length l, and the swing angle theta. Because the displacement x, the length l, and the swing angle theta are associatedwith first derivatives of the horizontal traction force f1 and the along-rope traction force f2, a dynamic sliding mode control law continuous in time is obtained. Therefore, anti-swing positioning control of the bridge crane system is realized and the buffeting phenomenon of the sliding mode variable structure control is weakened effectively.

Description

technical field [0001] The invention relates to the technical field of bridge cranes, in particular to a bridge crane anti-swing method based on a first-order dynamic sliding mode variable structure. Background technique [0002] The bridge crane system is essentially a complex underactuated nonlinear control system, which plays an irreplaceable role in modern industrial production. In view of its high theoretical value and practical value, scholars at home and abroad have never interrupted the bridge crane system. Research on the problem of positioning control of crane swaying. [0003] At present, many scholars try to combine adaptive control, fuzzy control, neural network and sliding mode control to complement each other, but the controllers they design are complex, have chattering, and most of them do not consider changing the rope length. For the case of variable rope length, some scholars have adopted layered sliding mode and time-varying sliding mode control methods ...

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Problems solved by technology

[0003] At present, many scholars try to combine adaptive control, fuzzy control, neural network and sliding mode control to complement each other.

For the case of variable rope length, some scholars have adopted layered sliding mode and time-varying sliding mode control methods to realize the anti-sway positioning control of the bridge crane under the condition of variable rope length, but the design steps of the control rate are cumbersome and have no Taking into account the chattering phenomenon unique to sliding mode control

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