Enhanced coupling nonlinear pd sliding mode controller and method for bridge crane system

A technology of bridge cranes and controllers, which is applied to cranes and other directions, can solve problems such as unfavorable engineering realization, chattering phenomenon, complex controller structure, etc., and achieve the effect of improving transient control performance, simple structure, and strong robustness
CN108557664BActive Publication Date: 2019-12-17SHANDONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANDONG UNIV
Publication Date
2019-12-17

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Abstract

The invention provides a coupling enhancing non-linear PD-type sliding mode controller for a bridge crane system, and a method. The designed controller is composed of a PD control part and an SMC control part. The SMC control part is used for constructing a frame of the controller. Quite high robustness is achieved aiming at an indeterminate model, different and indeterminate system parameters andexternal disturbance of a system. The PD control part is used for stably controlling the system. In addition, a generalized function is introduced, the coupling relation among trolley movement, lifting hook swinging and load swinging is enhanced, and thus the transient control property of the system is improved. By utilizing the Lyapunov theorem and Schur complement, it is proved that the asymptotic stability and convergence of the system can still be ensured through the provided control method even if the model and the system parameters are indeterminate and external disturbance exists. Thesimulation result shows the correctness of the provided control method and the excellent control property.
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Description

technical field

[0001] The invention belongs to the control field of a two-stage pendulum type bridge crane system, and in particular relates to an enhanced coupling nonlinear PD type sliding mode controller and a method for a bridge crane system. Background technique

[0002] In recent years, bridge cranes have been widely used in construction sites, seaports, docks and other important places for lifting and transporting goods. Overhead crane is a typical underactuated system, whose control input dimension is smaller than the degree of freedom to be controlled. Due to the strong coupling between the movement of the trolley and the swing of the load, fast positioning of the trolley and small swings of the load conflict with each other. Therefore, the design of the overhead crane system controller is extremely difficult and very challenging.

[0003] The safety and effectiveness of overhead crane systems have received extensive attention, and some useful and constructive re...

Claims

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