基于固定时间终端滑模控制的塔吊防摆定位研究  

Research on anti-sway and positioning of tower cranes based on fixed-time terminal sliding mode control

作　　者：顾秀涛 洪梦情 陆玉叶 郭毓[1] Gu Xiutao;Hong Mengqing;Lu Yuye;Guo Yu(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《南京理工大学学报》2023年第4期533-541,共9页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(61973167);江苏省建设系统科技项目(2019ZD001244,2019ZD001252);江苏高校优势学科建设工程资助项目;江苏省研究生科研与实践创新计划项目(KYCX21_0314)。

摘　　要：为了提高受外部干扰的四自由度欠驱动塔吊系统防摆定位控制性能和鲁棒性能,研究了基于固定时间收敛理论的非奇异快速终端滑模控制(Non-singular fast terminal sliding mode control,NFTSMC)方法。设计了一种非奇异快速终端滑模面,可避免控制器在系统状态接近平衡点时发生奇异。为有效抑制滑模控制器的抖振效应,设计了一种弱抖振固定时间趋近律。在此基础上,提出了一种基于固定时间分层滑模的塔吊防摆控制方法,并利用Lyapunov理论证明了闭环系统的固定时间有界。最后仿真结果验证了所提方法的有效性。A non-singular fast terminal sliding mode control(NFTSMC)method based on fixed-time convergence theory is proposed for anti-sway and positioning control of 4-dimensional underactuated tower cranes in the presence of external disturbances.To solve the singularity problem when the system state is close to the equilibrium point,a non-singular fast terminal sliding mode surface is designed.In addition,a chattering-free fixed-time reaching law is suggested to attenuate the chattering effect existing effectively.Based on which,a fixed-time hierarchical sliding mode-based anti-sway control of tower cranes is presented,and the fixed-time boundedness of the closed-loop system is derived using Lyapunov theory.Finally,the simulation results verify the effectiveness of the proposed method.

关 键 词：欠驱动系统 塔吊 非奇异性 抖振 固定时间收敛 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]