The invention relates to a robust sliding mode observation method and a robust sliding mode observer for the lifting deflection angle of a crane, and belongs to the field of monitoring of lifting deflection angles of cranes. The method comprises the following steps that (1) a speed sensor, an acceleration sensor and a controller are arranged on an electric hoist, and an angle sensor, an angular velocity sensor and a sling load sensor are arranged on a pulley block; and (2) a controller is used for collecting data measured by the speed sensor, the acceleration sensor, the angle sensor, the angular velocity sensor and the sling load sensor and carrying out matrix calculation, a system state variable is estimated gradually, and the value of the lifting deflection angle of the crane is obtained. The observer has the advantages of being high in anti-interference performance, reliable in performance and good in effect.
Robust sliding mode observation method and robust sliding mode observer for lifting deflection angle of crane
2016-02-03
Patent
Elektronische Ressource
Englisch
IPC: | B66C Krane , CRANES |
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