Global sliding-mode control method for bridge crane system

Abstract

The invention provides a global sliding-mode control method for a bridge crane system. The method comprises the following steps: determining a kinetic model; determining a control target; designing adamping signal and transforming a kinetic equation; designing a control rule; and implementing the control method. According to the control method, the bridge crane system has good robustness in the whole operating process while positioning control and anti-sway control of a trolley of the bridge crane system are implemented, so that the control efficiency of the bridge crane is improved, and theprobability of safety problems of the bridge crane system in actual operation caused by external disturbance and uncertain parameters. The global sliding-mode control method has good application prospect and economical benefit.

Description

technical field

[0001] The invention belongs to the control technology of an underactuated system, and mainly relates to a global sliding mode control method of an overhead crane system. Background technique

[0002] As an important means of transportation, the bridge crane system is widely used in various industrial occasions. The main purpose of its control is to use the trolley to send the load to the target position as quickly and accurately as possible, that is, the positioning control of the trolley, and Effectively control the load swing angle during transportation, so that the load swing angle is zero when the trolley reaches the target position, that is, swing-elimination control. However, due to the underactuated characteristics of the bridge crane system, the control input directly acts on the trolley to control the displacement of the trolley, while the load swing angle is indirectly controlled by the movement of the trolley, which increases the difficulty of con...

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