不确定扰动下双起升桥吊双吊具鲁棒自适应滑模同步协调-控制与决策.PDFVIP

第31 卷 第7 期 控 制 与 决 策 2016 年 7 月 Vol. 31 No. 7 Control and Decision Jul. 2016 文章编号: 1001-0920 (2016) 07-1192-07 DOI: 10.13195/j.kzyjc.2015.0621 不确定扰动下双起升桥吊双吊具 鲁棒自适应滑模同步协调控制 徐为民, 徐 攀 (上海海事大学航运技术与控制工程交通部重点实验室，上海201306) 摘 要: 双起升桥吊双吊具存在的参数摄动和不确定干扰问题严重影响了双吊具同步协调运行的效果. 鉴于此, 分 析桥吊双吊具不同工作模式的运行特性, 采用交叉耦合策略, 提出一种基于参数自整定的双吊具鲁棒自适应滑模同 步协调控制方法. 采用变边界层技术解决滑膜控制需折中稳态误差和抖振平滑的难题, 利用自整定切换函数增益消 除不确定扰动, 并利用Lyapunov 理论证明控制器的渐近稳定性. 桥吊控制实验表明了所提出方法的有效性. 关键词: 双起升双吊具桥吊；同步控制；滑模控制；变边界层；切换增益自整定 中图分类号: TP273 文献标志码: A Robust adaptive sliding mode synchronous control of double-container for twin-lift overhead cranes with uncertain disturbances XU Wei-min , XU Pan (Key Lab of Marine Technology and Control Engineering，Ministry of Communications ，Shanghai Maritime University ，Shanghai 201306，China ．Correspondent ：XU Wei-min ，E-mail ：wmxu@shmtu.edu.cn) Abstract: The synchronous control of the twin-lift containers suffers from the internal parametric perturbations, friction and external disturbances commonly existing in double-container overhead crane systems. A self-tuning based robust adaptive sliding-mode control is suggested by employing a cross-coupling strategy on the basis of the operational mode analysis for the double-container system. A self-tuning switching gain is designed to suppress the uncertain disturbances. A varying boundary layer method is developed when the uncertain disturbances are persistently occurred. The global stability of the suggested controller is proved by using the Lyapunov theory. The overhead crane experimental results show the effectiveness of the