Bridge crane positioning and swing eliminating method based on fuzzy sliding mode control

Abstract

The invention provides a bridge crane positioning and swing eliminating method based on fuzzy sliding mode control. The method comprises the following steps of: based on sliding mode variable structure control, combining fuzzy control with the sliding mode variable structure control to construct a new synthetic sliding mode surface; designing a proper fuzzy rule to ensure that the system state isalways on the sliding mode surface; and adjusting the size of a control quantity u by using the fuzzy control rule to realize efficient positioning and swing eliminating control of a bridge crane, weaken the buffeting phenomenon and increase the response speed. According to the method provided by the invention, a flexible robot intelligent control technology is fused with a simple and efficient automatic technology to be further applied to a bridge crane system, so that experience operation of technical workers is better replaced, errors caused by human factors are continuously reduced, the defect that a manual control method cannot cope with a severe environment is overcome, the operating efficiency and stability are improved, the buffeting problem of conventional sliding mode control isimproved, and rapid and accurate positioning and stable and efficient swing elimination during transportation of the bridge crane are realized.

Description

technical field

[0001] The invention relates to the technical field of bridge crane control, more specifically, to a method for positioning and eliminating swing of bridge crane based on fuzzy sliding mode control. Background technique

[0002] As a short-distance site lifting and transportation machine, bridge cranes are widely used in port lifting, warehouse scheduling, manufacturing and assembly, and play an extremely important role in national economic construction. During the transportation of bridge cranes, due to the inertial swing of the load caused by the traction of the trolley and the influence of external uncertain disturbances, the transportation efficiency of the bridge crane is directly reduced, accompanied by potential safety hazards, which greatly affects the safety of production operations. Therefore, the performance of bridge cranes must be continuously improved and optimized to meet the needs of high-speed, safe and stable production and construction. ...

Images