Design method and system of sliding mode controller for double-pendulum pi-type terminal of bridge crane

Abstract

The invention discloses a design method and system for a double-pendulum PI-type Terminal sliding mode controller of a bridge crane. The design method includes: defining a double-pendulum model of the bridge crane system; introducing a composite signal; defining a PI-type deviation signal as the expected trajectory of the trolley The difference with the composite signal; according to the PI type deviation signal, define the Terminal sliding mode surface; according to the double pendulum model of the bridge crane system, define the nominal model; according to the Terminal sliding mode surface and the nominal model, obtain the PI type Terminal sliding mode controller. Using the double pendulum model, the sliding surface converges in a limited time, and the convergence time can be predicted; by introducing a composite signal, the coupling relationship between the displacement of the trolley, the swing angle of the hook, and the swing angle of the load is enhanced to ensure the steady-state performance of the control system , and fully consider the strong coupling of the underactuated nonlinear system, it is easy to obtain a better control effect in engineering applications; the design method of the nominal model is used, which has strong robustness to external disturbances, parameter perturbations and unmodeled states Stickiness.

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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