Feedforward control-based global continuous sliding mode control method for bridge hoisting

Abstract

The invention discloses a feedforward control-based global continuous sliding mode control method for bridge hoisting. The method considers the influence of matched interference d1 and unmatched interference d2 on a system, constructs a nonlinear interference observer to estimate the interference, and provides a sliding mode surface S only having a sliding stage. On the basis, a global continuous sliding mode controller is established, then the displacement of the trolley of the crane and the swing magnitude of the load are measured by an incremental encoder, the displacement of the trolley needing to be controlled and the swing signal magnitude of the load are calculated by the global continuous sliding mode controller, and then the trolley is controlled to move through a motor of the bridge crane. And load swing is indirectly controlled. The method is used for continuously controlling the bridge crane with good robustness under the condition that different interferences exist in the working environment, the safety guarantee of the bridge crane in the actual working process is improved, and the working efficiency of the crane is increased.

Description

technical field [0001] The invention belongs to the control technology of an underactuated crane system, in particular to a global continuous sliding mode control method of a bridge crane based on feedforward control. Background technique [0002] The underactuated mechanical system is a system in which the number of control inputs is less than the number of controlled degrees of freedom. It has been widely used in many industrial fields in recent years. As a common underactuated mechanical system, bridge cranes are widely used in industrial sites such as iron and steel chemical industry, railway transportation, port and wharf due to their advantages of high efficiency, large carrying capacity and low energy consumption. The main work is material transportation . But because of its typical underactuated characteristics, the control of the load cannot be directly controlled by the control input, which increases the difficulty of the research on the control method of the brid...

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Problems solved by technology

[0004] The uncertainty of system parameters and external disturbances will have a great impact on the stability of the bridge crane. In view of this problem, sliding mode control can well eliminate the influence of system parameter uncertainties and external disturbances on system stability, but Most of the existing sliding mode control methods only consider the influence of matching disturbances in the same channel as the control input, and do not consider the influence of mismatching disturbances not in the same channel as the control input, and most of the existing sliding mode control methods It is discontinuous, and the control gain is large, which will lead to serious chattering phenomenon, which will affect the stability of the system, and may cause safety accidents in severe cases

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