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Bridge crane system control method based on sliding mode control theory

A technology of control theory and control method, applied in the field of bridge crane system control based on sliding mode control theory, can solve the problems of low efficiency and high requirements of crane drivers

Inactive Publication Date: 2020-05-12
JIANGNAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

At present, in the actual production, the anti-swing control of the hoisting weight of the bridge crane system is mainly completed by experienced operators, the efficiency is relatively low, and the requirements for the crane driver are relatively high.

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  • Bridge crane system control method based on sliding mode control theory
  • Bridge crane system control method based on sliding mode control theory
  • Bridge crane system control method based on sliding mode control theory

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0026] Sliding mode control is also called variable structure control. Its nonlinear characteristics are manifested as control discontinuity. It can continuously change the structure of the system according to the current state of the system, forcing the system trajectory to gradually stabilize to the equilibrium point according to the predetermined sliding mode. The sliding mode variable structure control problem can be decomposed into a comprehensive problem of two low-dimensional subsystems, that is, designing the variable structure control law to make the system state reach the selected sliding mode within a limited time and selecting an appropriate switching function to ensure ...

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Abstract

The invention relates to a bridge crane system control method based on a layered sliding mode control theory. A sliding mode controller is established by applying the sliding mode control theory. Aiming at the under-actuated characteristic of a bridge crane system, the layered sliding mode control theory is selected for designing a controller. According to the invention, the under-actuated characteristic of the bridge crane system is used; large and small vehicle displacement error sliding mode functions, a hoisting swing angle error sliding mode function and a total sliding mode function in large and small vehicle running direction are constructed, the effective control over an equivalent control rate and a switching control rate solid line bridge type crane system is designed, and the effectiveness of the method is checked through simulation and comparison with a traditional PID control method.

Description

technical field [0001] The invention relates to the field of bridge-type traveling crane systems, in particular to a control method for bridge-type traveling crane systems based on sliding mode control theory. Background technique [0002] The bridge crane system, also known as the bridge crane, is mainly composed of a bridge frame, a cart operating mechanism, a lifting trolley (main and auxiliary lifting mechanisms and a trolley operating mechanism) and an electrical control system. Strong, flexible operation and other advantages, it is widely used in material handling in production workshops, warehouses, ports, nuclear waste disposal and other places. At present, in the actual production, the anti-swing control of the hoisting weight of the bridge crane system is mainly completed by experienced operators, the efficiency is relatively low, and the requirements for the crane driver are relatively high. Solving the swing control problem of lifting weight is of great signific...

Claims

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Application Information

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IPC IPC(8): G05B13/04B66C13/48
CPCB66C13/48G05B13/042
Inventor 杨玮林陈佳瑜许德智
Owner JIANGNAN UNIV
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