The invention provides a design method and application of a hydraulic mechanical arm hoisting load anti-swing self-adaptive fuzzy sliding mode controller, belongs to the technical field of
engineering machinery, and aims at solving the problem that switching items of
sliding mode control are discontinuous, fuzzy approximation is carried out on the switching items of the
sliding mode control by combining a fuzzy control method and self-adaptive
sliding mode control, and therefore the switching items of the sliding
mode control are not continuous. And the problem of discontinuity is solved. The design method comprises the following steps that 1, a hydraulic mechanical arm hoisting
system model is established, and a self-adaptive sliding mode anti-swing controller is designed on the basis of the hydraulic mechanical arm hoisting
system model; and 2, introducing a fuzzy control method into the adaptive sliding mode anti-swing controller, and establishing an adaptive fuzzy sliding mode controller. The self-adaptive fuzzy sliding mode controller designed by the invention has an obvious swing
control effect on the hoisting load in the movement process, the control speed is high, the hoisting load is stable and operates under the action of the controller, the swing amplitude of the hoisting load is kept in an acceptable range, the sudden change condition is avoided, and the control accuracy is high. And the requirements of rapid
elimination of hoisting swinging and accurate operation are met.