A bridge crane sliding mode control method based on an unknown input observer technology comprises the steps that a dynamic model of a bridge crane system is established, and the system state and control parameters are initialized; designing an unknown input observer; designing a double-layer hyperbolic reaching law; and designing a sliding mode controller based on the unknown input observer and the double-layer hyperbolic reaching law. The method can effectively solve the problem of quick positioning of the bridge crane under different continuous non-matched disturbance conditions, effectively inhibits the residual swing of the load of the bridge crane, and guarantees the stability of control input.
一种基于未知输入观测器技术的桥式吊车滑模控制方法,建立桥式吊车系统的动力学模型,初始化系统状态及控制参数;设计未知输入观测器;设计双层双曲趋近律;基于未知输入观测器和双层双曲趋近律,设计滑模控制器。本发明能够有效解决不同持续性非匹配扰动条件下桥式吊车的快速定位问题,有效抑制桥式吊车的负载残余摆动,保证控制输入的平稳。
Bridge crane sliding mode control method based on unknown input observer technology
一种基于未知输入观测器技术的桥式吊车滑模控制方法
2022-06-03
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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