Control Method of Vertical Material Conveyor Based on Disturbance Observer and Approach Adaptive Sliding Mode

Abstract

The invention discloses a control method for a vertical material conveying device based on a disturbance observer and an approach self-adaptive sliding mode, which comprises the following steps: constructing a mathematical model of the vertical material conveying device; planning its expected motion trajectory; Conveyor disturbance observer; construct vertical material conveying device approach adaptive sliding mode control system; construct vertical material conveying device control law, combined with approach adaptive sliding mode control system, the position of vertical material conveying device can be controlled change along the desired trajectory. The disturbance state observer constructed by the present invention can realize effective estimation and control compensation of time-varying disturbance items existing in the vertical material conveying device, and the sliding mode control system based on reaching law constructed on this basis can eliminate disturbance estimation errors . In addition, the self-adaptive control system constructed by the present invention can weaken the chattering of the control amount, improve the control effect, and realize relatively accurate position control of the vertical material conveying device.

Description

technical field [0001] The invention relates to the technical field of material conveying device control, in particular to a control method for a vertical material conveying device based on a disturbance observer and an approach adaptive sliding mode. Background technique [0002] As a transportation device, the material conveying device is widely used in construction, metallurgy, docks, machinery and other places that require cargo transportation. Usually according to the different transmission modes, it can be divided into belt type transmission transportation equipment, gear type and sprocket type transmission transportation equipment. The vertical material conveying device is a chain-driven material conveying device with high reliability, which can adapt to various harsh working environments and takes up less space. [0003] The control method of the traditional vertical material conveying device is mostly PID algorithm. The structure of this algorithm is relatively sim...

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Problems solved by technology

[0003] The control method of the traditional vertical material conveying device is mostly PID algorithm. The structure of this algorithm is relatively simple, and the parameter adjustment is more convenient in the project, but it cannot compensate the time-varying disturbance existing in the vertical material conveying device, resulting in control low precision

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