The invention relates to a bridge crane system control method based on a layered sliding mode control theory. A sliding mode controller is established by applying the sliding mode control theory. Aiming at the under-actuated characteristic of a bridge crane system, the layered sliding mode control theory is selected for designing a controller. According to the invention, the under-actuated characteristic of the bridge crane system is used; large and small vehicle displacement error sliding mode functions, a hoisting swing angle error sliding mode function and a total sliding mode function in large and small vehicle running direction are constructed, the effective control over an equivalent control rate and a switching control rate solid line bridge type crane system is designed, and the effectiveness of the method is checked through simulation and comparison with a traditional PID control method.
本发明涉及一种基于分层滑模控制理论的桥式行吊系统控制方法,运用滑模控制理论建立滑模控制器。针对桥式行吊系统欠驱动的特性,选用分层滑模控制理论进行控制器设计。本发明根据桥式行吊系统欠驱动的特性,构建大、小车位移误差滑模函数、吊重摆动角度误差滑模函数、大、小车运行方向上的总滑模函数,设计等效控制率及切换控制率实线桥式行吊系统的有效控制,通过仿真并与传统PID控制方法进行比较来检验所提方法的有效性。
Bridge crane system control method based on sliding mode control theory
基于滑模控制理论的桥式行吊系统控制方法
2020-05-12
Patent
Elektronische Ressource
Chinesisch
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