桥式吊车系统的自适应滑模抗摆控制  

Anti-swing Control Based upon Adaptive Sliding Mode Control for Overhead Crane

作　　者：武文斌[1] 方勃[1,2] 

机构地区：[1]沈阳建筑大学交通与机械工程学院,辽宁沈阳110168 [2]哈尔滨工业大学航天学院,黑龙江哈尔滨150001

出　　处：《机电产品开发与创新》2012年第1期157-158,173,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：针对欠驱动桥式吊车系统的负载快速精确定位问题,提出了一种基于自适应滑模的抗摆设计方法。基于系统模型,设计了一种自适应分解滑模控制器和线性滑模面,实现了在小车快速定位的同时,消除负载摆动的控制目的。仿真实验结果证明,该控制器可实现桥式吊车系统负载的定位要求。Motivated by the desire to achieve fast and precise positioning while mitigating performance and safety concerns associated with the swing motion, an adaptive hierarchical sliding mode variable structure control strategy is presented for an overhead crane system which is a typical class of second-order underactuated system. Based upon the state space model, controller and sliding mode surfaces are designed to regulate the cart position, and the inhibition of chattering is concerned. Simulation results show the effectiveness of the developed control scheme.

关 键 词：桥式吊车 自适应滑模 变结构控制 

分 类 号：TH-39[机械工程]