The invention discloses a nonsingular terminal sliding mode anti-shake control method in a slender load vertical lifting process, which comprises the following steps of: establishing a nonlinear three-dimensional dynamic model in the slender load lifting process by utilizing generalized coordinate quantity based on a Lagrange dynamics analysis method; on the basis, a nonsingular terminal sliding mode control model composed of equivalent control and switching control is established by using an equivalent control method; meanwhile, a control strategy is provided, and the problem that the generalized coordinate quantity on the actual crane is difficult to measure and control is solved by utilizing two times of coordinate transformation. The problem of slender load lifting shaking under the condition of external interference can be solved, industrial application is easy, and the working efficiency and the operation stability of the crane can be remarkably improved.
本发明公开了一种细长型负载垂直起吊过程的非奇异终端滑模防晃控制方法,包括以下步骤:基于拉格朗日动力学分析方法,利用广义坐标量建立了细长型负载起吊过程的非线性三维动力学模型;在此基础上,利用等效控制方法,建立了由等效控制和切换控制组成非奇异终端滑模控制模型;同时,提出了一种控制策略,利用两次坐标变换,解决了实际起重机上广义坐标量难以被测量和控制的问题。本发明可解决存在外部干扰的情况下细长型负载起吊晃动的问题,易于工业应用,可以显著提高起重机工作效率和运行稳定性。
Non-singular terminal sliding mode anti-shaking control method in vertical lifting process of slender load
细长型负载垂直起吊过程的非奇异终端滑模防晃控制方法
2022-06-03
Patent
Elektronische Ressource
Chinesisch
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