基于快速非奇异终端滑模的三维天车负载摆动控制  

Payload swing control for 3D overhead crane based on fast non⁃singular terminal sliding mode

作　　者：王守瑞 靳伍银[1] 芮执元[1] 张霞 WANG Shou-rui;JIN Wu-yin;RUI Zhi-yuan;ZHANG Xia(School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,China;College of Electrical Engineering,Longdong University,Qingyang 745000,China)

机构地区：[1]兰州理工大学机电工程学院,兰州730050 [2]陇东学院电气工程学院,甘肃庆阳745000

出　　处：《吉林大学学报（工学版）》2023年第12期3508-3517,共10页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(12062009);甘肃省科技计划项目(21JR11RM050);兰州市科技计划项目(2023-3-105)。

摘　　要：对于三维天车防摆控制系统易受参数摄动、外部未知干扰等不确定因素影响的问题,提出了一种基于参数自适应的快速非奇异终端滑模控制方法。针对三维天车系统动力学模型,考虑负载质量和缆绳长度时变、外部干扰等不确定性因素,基于滑模控制理论,构造了含有位移偏差和负载摆动角度的复合滑模面,设计了滑模参数自适应律,实现了控制器增益根据系统误差自动整定,保证了位移误差和摆动角度在有限时间内收敛到零。与现有控制方法仿真对比,本文控制方法可以使天车在3.5 s内到达目标位置且不发生超调,有效抑制了负载摆动,最大摆动角度不超过3°,快速消除了负载的残余摆动。结果表明,该方法改善了天车系统的动态响应性能,增强了控制系统的鲁棒性和抗干扰性。A parameter-adaptive fast non-singular terminal sliding mode control method is proposed to address the problem of the three-dimensional overhead crane anti-sway control system,which is susceptible to unknown factors from parameter perturbations and external disturbances.Considering the uncertainties such as the time-varying of payload mass and rope length in the dynamics model of the threedimensional overhead crane system,as well as external disturbances,this method is based on sliding mode control theory.A composite sliding surface that accounts for both position deviation and payload swing angle is constructed.Moreover,a parameter-adaptive law to automatically tune the controller gains based on the system's errors is designed and ensures that displacement errors and swing angles converge to zero within a finite time.When compared to existing control methods through simulations,the proposed method allows the overhead crane to reach the desired displacement within 3.5 s without overshooting.It effectively suppresses payload swinging,ensuring that the maximum swing angle does not exceed 3 deg.Additionally,it rapidly eliminates any residual swing of the payload.These results indicate that proposed method enhances the dynamic response performance of the overhead crane system,and improving the robustness and disturbance rejection capabilities of the control system.

关 键 词：自动控制技术 天车系统 欠驱动系统 负载摆动 终端滑模控制 参数自适应 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]