The invention provides a variable-rope-length bridge crane swing-resisting positioning control method based on a second-order sliding mode disturbance observer. The variable-rope-length bridge crane swing-resisting positioning control method based on the second-order sliding mode disturbance observer aims to solve the control problem of a bridge crane which simultaneously performs lifting rope ascending-descending operation in a horizontal conveying process. According to the variable-rope-length bridge crane swing-resisting positioning control method based on the second-order sliding mode disturbance observer, a system model of the variable-rope-length bridge crane is established by utilizing an Euler-Lagrange method; the second-order sliding mode disturbance observer is designed based on the model to observe composite disturbance composed of internal uncertainty and external disturbance of the variable-rope-length bridge crane, then the driving force calculated by a sliding mode controller is compensated for, the positioning precision and the anti-swing effect of the system are improved, the problems that the rail friction force changes and the load mass are different in the actual operation of the variable-rope-length bridge crane is effectively solved, the robustness and the anti-interference performance of a control system are improved, and the application requirement of the bridge crane in severe environments is met; and meanwhile, the horizontal movement and the lifting movement of the bridge crane are coupled, so that the conveying efficiency in actual operation is greatly improved.
本发明提出了一种基于二阶滑模干扰观测器的变绳长吊车防摇定位控制方法,针对水平运送过程中同时进行吊绳升降操作的桥式吊车控制问题,利用欧拉‑拉格朗日方法建立变绳长桥式吊车的系统模型,基于此模型设计了一种二阶滑模干扰观测器,来对变绳长桥式吊车的内部不确定性和外部干扰组成的复合干扰进行观测,进而对滑模控制器计算的驱动力进行补偿,提高了系统的定位精度和防摇效果,有效解决了变绳长桥式吊车在实际作业中轨道摩擦力变化和负载质量不一的问题,提高了控制系统的鲁棒性和抗干扰性,满足桥式吊车在恶劣环境中的应用需求。同时本发明将桥式吊车的水平运动和升降运动相耦合,大大提高了实际作业中的运送效率。
Variable-rope-length bridge crane swing-resisting positioning control method based on second-order sliding mode disturbance observer
基于二阶滑模干扰观测器的变绳长桥式吊车防摇定位控制方法
2021-07-09
Patent
Elektronische Ressource
Chinesisch
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