Method and system for controlling anti-sway of terminal sliding mode for underactuated crane system based on disturbance observer

A technology of interference observer and terminal sliding mode, which is applied in the direction of instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as loss of function, and achieve the effect of solving swing elimination and tracking control problems

Active Publication Date: 2018-11-23
QUFU NORMAL UNIV
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Once the interference information cannot be obtained a

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  • Method and system for controlling anti-sway of terminal sliding mode for underactuated crane system based on disturbance observer
  • Method and system for controlling anti-sway of terminal sliding mode for underactuated crane system based on disturbance observer
  • Method and system for controlling anti-sway of terminal sliding mode for underactuated crane system based on disturbance observer

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[0049] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0050] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0051] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or c...

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Abstract

The invention discloses a method and system for controlling anti-sway of a terminal sliding mode for an underactuated crane system based on a disturbance observer, and uses a finite time interferenceobserver to estimate external interference. A finite-time control law was designed by transforming the system into a chain system, combining the disturbance observer and introducing the proper slidingsurface. The analysis shows that when external disturbance is present, the designed controller can adjust the trolley to reach the predetermined trajectory within a limited time, thereby realizing the precise positioning of the trolley and the suppression of the load swing angle. The simulation results show the effective control effect of the proposed control method in the realization of trolleypositioning and anti-sway.

Description

technical field [0001] The invention belongs to the technical field of anti-swing control of underactuated cranes, and in particular relates to a terminal sliding mode anti-sway control method and system of an underactuated crane system based on an interference observer. Background technique [0002] Underactuated cranes are an indispensable part of modern transportation, construction, and logistics industries, and their swing elimination and positioning control have attracted a lot of attention from scholars at home and abroad. At the same time, with the rapid development of modern science and technology, people continuously put forward new requirements for the anti-sway positioning control performance of the crane. Correspondingly, various control algorithms have been proposed one after another. [0003] The early control method used for swing elimination is mainly open-loop control. Open-loop control mainly includes input shaping, off-line trajectory planning and optima...

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/15G06F30/20
Inventor 张中才武玉强曹佃国李莉黄金明
Owner QUFU NORMAL UNIV
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