基于可调增益的桥吊自适应滑模控制器设计  

Design of Adaptive Sliding Mode Controller for Overhead Crane Based on Adjustable Gain

作　　者：陈曦[1] 徐为民[1] 岳雅雯 陈天宇 CHEN Xi;XU Wei-min;YUE Ya-wen;CHEN Tian-yu(Key Laboratory of Marine Technology and Control Engineering Ministry of Communications,Shanghai Maritime University,Shanghai 201306,China)

机构地区：[1]上海海事大学航运技术与控制工程交通行业重点实验室,上海201306

出　　处：《控制工程》2020年第3期547-553,共7页Control Engineering of China

基　　金：上海市教育委员会科研创新计划项目(12YZ115)。

摘　　要：针对变绳长情况下二维欠驱动桥式吊车的防摇定位控制问题,提出了一种基于可调增益的自适应滑模控制方法。该方法是将含有小车位移、摆角变量和绳长变量的滑模面和构造出的等效控制律,通过自适应控制来调整控制器的增益。该控制器可以在含有外界干扰和系统不确定性的情况下快速实现对小车的定位和绳长变化的控制,并能有效快速地抑制负载的摆动,最后的仿真结果证实了该控制方法的有效性。An adaptive sliding mode control method based on adjustable gain is proposed for the anti-swing positioning control of a two dimensional underactuated overhead crane with variable rope length. In this method, the gain of the controller is adjusted by the adaptive control of the sliding surface including the trolley displacement, swing angle, rope length variables and the equivalent control law. The controller can realize the control of the positioning of the car and the change of the rope length rapidly under the condition of system uncertainty and external disturbance, and can effectively and rapidly suppress the load swing. The stability analysis of the controller is given. Finally, the simulation results show the good performance of the control method.

关 键 词：桥式吊车 自适应滑模控制 欠驱动系统 抖振 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]