桥式吊车自适应超螺旋移动滑模控制研究  

Research on Adaptive Super-twist Moving Sliding Mode Controller of Overhead Cranes

作　　者：顾秀涛 徐为民[1] 张明明 张万鹏 王永爽 GU Xiu-tao;XU Wei-min;ZHANG Ming-ming;ZHANG Wan-peng;WANG Yong-shuang(Key Laboratory of Marine Technology and Control Engineering,Ministry of Transport,Shanghai Maritime University,Shanghai 201306)

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》2021年第6期1150-1162,共13页Control Engineering of China

基　　金：上海市科委创新计划资助项目(10110502600);上海市教委科研创新项目(20110527);上海市重点学科资助项目(S30602)。

摘　　要：针对变绳长下的桥式吊车防摇定位控制问题,提出了一种基于不确定性和扰动估计器的自适应增益超螺旋移动滑模控制的方法。首先,所设计的移动滑模面可以根据输入的误差及相应的导数实时改变自身的斜率;此外,在该移动滑模面上加入动态指数项以使任意初始状态误差变量都在滑模面上,从而大大提高系统的鲁棒性和控制性能。其次,为实现系统状态误差的快速收敛,设计一种自适应超螺旋滑模控制算法,该方法不仅能有效地削弱控制系统的抖振,也能很好地抑制系统的匹配扰动,另外构造一个不确定性和扰动估计器用来解决系统的非匹配扰动。最后利用李雅普诺夫理论对该控制器进行了稳定性分析,仿真结果表明了该控制器的有效性。In this paper, an adaptive-gain super-twist moving sliding mode control(SMC) method based on uncertainty and disturbance estimator(UDE) is proposed for anti-sway and positioning control of two-dimensional underactuated overhead cranes under the condition of rope length changing. Firstly, the designed moving sliding mode surface can change its slope in real time according to input errors and derivative of state variable errors. Besides, a dynamic exponential term is added into the moving sliding mode surface so as to drive any initial state variable errors into the sliding surface, thereby robustness and control performance of the control system are improved. Then, an adaptive super-twist sliding mode control method is proposed to realize fast convergence of the system state errors. This method can not only effectively reduce chattering phenomenon, but also suppress the matched disturbance. To suppress unmatched disturbance occurring in crane dynamic systems, an uncertainty and disturbance estimator is established. Finally, a stability analysis about the suggested controller is derived by using Lyapunov theory, and the simulation results confirm the effectiveness of the proposed controller.

关 键 词：桥式吊车 移动滑模面 自适应增益超螺旋算法 不确定性和扰动估计器 非匹配扰动 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]