基于解耦滑模控制的桥式吊车系统的抗摆控制-中国测试.pdfVIP

第43卷第8期 中国测试 Vol.43 No.8 2017年8月 CHINA MEASUREMENT TEST August，2017 doi院10.11857/j.issn.1674-5124.2017.08.020 基于解耦滑模控制的桥式吊车系统的抗摆控制 于 涛 袁 杨 昆 袁 赵 伟1 1 2 渊1.辽宁工业大学机械工程与自动化学院袁辽宁 锦州 121001曰2.北京印刷学院信息工程学院袁北京 102600冤 摘 要院针对欠驱动桥式吊车系统的抗摆控制问题袁提出一种新型的解耦滑模控制算法遥相比于传统解耦滑模控制算 法袁该控制算法采用可导的中间变量来定义系统的第二层滑动面袁并利用等效控制关联增益法来调整解耦滑模控制 器的切换增益曰不但解决解耦滑模控制器等效控制的求取问题袁而且能够有效降低解耦滑模控制器的抖振幅度遥应用 Lyapunov方法和Barbalat引理证明系统各层滑动面的渐近稳定性袁并通过数值仿真实验验证所提出的控制算法的有 效性遥 与已有控制算法的对比结果表明袁该控制算法具有较好的控制性能和抖振抑制特性遥 关键词院桥式吊车曰欠驱动曰抗摆控制曰解耦滑模控制 文献标志码院A 文章编号院1674-5124渊2017冤08-0095-06 Anti-sway control of overhead crane system based on decoupled sliding mode control 1 1 2 YU Tao 袁 YANG Kun 袁 ZHAO Wei 渊1.College of Mechanical Engineering and Automation袁Liaoning University of Technology袁 Jinzhou 121001袁China曰 2.School of Information Engineering袁Beijing Institute of Graphic Communication袁Beijing 102600袁China冤 Abstract: A novel decoupled sliding mode control algorithm is proposed for anti-sway control of an underactuated overhead crane system. Different from traditional decoupled sliding mode control algorithm袁 the proposed control algorithm uses a differentiable intermediate variable to define the second-layer sliding surface of the system and utilizes the equivalent-control-dependent gain method to adjust the switching gain of the decoupled sliding mode controller. This algorithm can not only solve the derivation problem of the equivalent control of the decoupled sliding mode controller袁 but also reduce the chattering level of th