欠驱动桥式吊车的自适应滑模变结构控制  

Adaptive Sliding Mode Variable Structure Control of Underactuated Bridge Cranes

作　　者：于涛[1] 赵伟 杨昆[1] 

机构地区：[1]辽宁工业大学机械工程与自动化学院,辽宁锦州121001 [2]北京印刷学院信息工程学院,北京102600

出　　处：《工业控制计算机》2020年第5期136-138,141,共4页Industrial Control Computer

基　　金：辽宁省自然科学基金指导计划项目(201602379);辽宁省教育厅科学技术研究一般项目(L2015241)。

摘　　要：针对二维欠驱动桥式吊车,提出一种新型的自适应滑模控制方案。所提出的控制方案采用自适应机制调整滑模控制器的趋近参数,能够有效实现二维桥式吊车的消摆控制。利用台车位置误差和负载摆动角度的线性组合定义一个耦合变量,并在此基础上设计系统的滑模面。基于桥式吊车的数学模型和指数趋近律设计自适应滑模控制器,并借助Lyapunov稳定性理论推导趋近参数的自适应律。从理论角度证明闭环控制系统的稳定性,并利用数值仿真结果验证所提出的控制方案的有效性和所设计的自适应滑模控制器的控制性能。A novel adaptive sliding mode control scheme is presented for 2-D underactuated bridge cranes in this paper.The presented control scheme uses an adaptive mechanism to tune the reaching parameters of the sliding mode controller and can effectively achieve anti-sway control of 2-D bridge cranes.The linear combination of the trolley position error and the load swing angle is utilized to define a coupling variable,based on which the system sliding mode surface is designed.The adaptive sliding mode controller is designed based on the motion equations of 2-D bridge cranes and exponential reaching law.The adaptive law of the reaching parameters is derived by means of Lyapunov stability theory.The stability of the closed-loop control system is proven theoretically.Numerical simulation results are utilized to demonstrate the validity of the presented control scheme and the control performance of the developed adaptive sliding mode controller.

关 键 词：二维桥式吊车 欠驱动机械系统 自适应滑模控制 消摆控制 耦合变量 

分 类 号：TH22[机械工程—机械制造及自动化] TP273[自动化与计算机技术—检测技术与自动化装置]