Method and system for designing double-pendulum PI type Terminal sliding mode controller of bridge crane

Abstract

The invention discloses a method and a system for designing a double-pendulum PI type Terminal sliding mode controller of a bridge crane. The method comprises the steps: defining a double-pendulum model of a bridge crane system; introducing a composite signal; defining a PI type deviation signal as a difference value between the expected track of the trolley and the composite signal; defining a Terminal sliding mode surface according to the PI type deviation signal; defining a nominal model according to the double-pendulum model of the bridge crane system; and according to the Terminal slidingmode surface and the nominal model, obtaining a PI type Terminal sliding mode controller. A double-pendulum model is adopted, a sliding mode surface is converged in finite time, and convergence timecan be predicted; by introducing a composite signal, the coupling relationship among the trolley displacement, the lifting hook swing angle and the load swing angle is enhanced, the steady-state performance of a control system is ensured, the strong coupling of an under-actuated nonlinear system is fully considered, and a better control effect is easily obtained in engineering application; and a nominal model design method is adopted, so that the method has relatively high robustness to external interference, parameter perturbation and an unmodeled state.

Description

technical field [0001] The invention relates to the field of overhead cranes, in particular to a design method and system for a double pendulum PI type Terminal sliding mode controller of an overhead crane. Background technique [0002] The bridge crane system is a typical underactuated system, and the underactuated system is a kind of nonlinear system whose control input number is less than the number of degrees of freedom, that is, the control input dimension of the system is less than the system configuration space Dimensions, with compact structure, flexible activities, low cost, low energy consumption, light weight and many other advantages. The control of underactuated overhead traveling cranes has attracted the attention of many scholars at home and abroad, and many important research results have been obtained. But so far, there are still some difficult problems to be solved. [0003] At present, there is a certain coupling between the parameters of the bridge cran...

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Problems solved by technology

[0003] At present, there is a certain coupling between the parameters of the bridge crane system, but the sliding mode controller of the bridge crane does not effectively use the coupling relationship of the state variables, resulting in complicated and cumbersome parameter adjustment process, poor control effect, and can not guarantee control The steady-state performance of the system is poor in robustness to external disturbances, parameter perturbations, and unmodeled states, and the sliding surface cannot converge in a limited time, and the convergence time cannot be predicted

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