A Global Continuous Sliding Mode Control Method for Overhead Cranes Based on Feedforward Control

Abstract

The invention discloses a global continuous sliding mode control method of bridge crane based on feed-forward control, while considering the matching disturbance d 1 and mismatch interference d 2 The impact on the system, and construct a nonlinear disturbance observer to estimate the disturbance, a sliding mode surface s with only sliding phase is proposed, on this basis, a global continuous sliding mode controller is established, and then the incremental The displacement of the crane trolley and the size of the load swing are measured by the type encoder, and the global continuous sliding mode controller calculates the signal size of the trolley displacement and load swing to be controlled, and then controls the movement of the trolley through the bridge crane motor, and indirectly Control load swing. The invention is used for the continuous control of the bridge crane with good robustness under different interference conditions in the working environment, improves the safety guarantee of the bridge crane in the actual working process, and improves the working efficiency of the crane.

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 for bridge cranes 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, and has been widely used in many industrial sites in recent years. As a common under-actuated mechanical system, bridge cranes are widely used in industrial places such as iron and steel chemical industry, railway transportation, ports and terminals due to their high efficiency, large bearing capacity and low energy consumption. The main work is material transportation. . However, due to its typical under-actuated characteristics, the control of the load cannot be directly controlled by the control input, which increases the difficulty of research on the control method of overhead cranes. ...

AI Technical Summary

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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