The invention relates to the technical field of bridge crane anti-swing motion control, and discloses a bridge crane global robust anti-interference control method based on a sliding mode theory, and the method comprises the steps: building a bridge crane multi-mode dynamic model and a novel state variable based on a Lagrange equation and a bridge crane model, and obtaining a series integration type system; constructing an integral sliding mode surface with unknown parameters and an energy function related to the sliding mode surface, and performing derivation analysis on the integral sliding mode surface and the energy function to obtain a basic form of a final controller; and in combination with a sliding mode surface and a final controller, swinging elimination and positioning of the crane are realized. According to the global robust anti-interference control method for the bridge crane based on the sliding mode theory, the novel integral sliding mode surface is constructed, the state quantity is subjected to nonsingular transformation to obtain the sliding mode surface parameters, the anti-interference control under system parameter transformation can be realized in combination with the final global robust controller, and the stability of the method can be ensured theoretically.
本发明涉及桥吊防摇运动控制技术领域,公开了一种基于滑模理论的桥吊全局鲁棒抗扰控制方法,包括:基于拉格朗日方程以及桥吊模型构建桥吊多模态动态模型和新型状态变量,得到串联积分型系统;构建带有未知参数的积分型滑模面和滑模面相关的能量函数,并对其进行求导分析,得到最终控制器的基本形式;结合滑模面以及最终控制器,实现起重机的消摆与定位。本发明提供的基于滑模理论的桥吊全局鲁棒抗扰控制方法通过构造新型积分型滑模面,将状态量进行非奇异变换得到滑模面参数,结合最终全局鲁棒控制器,可以实现系统参数变换下的抗扰控制,且可以在理论上保证所提方法的稳定性。
Global robust anti-interference control method for bridge crane based on sliding mode theory
一种基于滑模理论的桥吊全局鲁棒抗扰控制方法
2022-12-09
Patent
Elektronische Ressource
Chinesisch
Bridge crane system control method based on sliding mode control theory
Europäisches Patentamt | 2020
|Discrete sliding mode predictive control method for bridge crane
Europäisches Patentamt | 2022
|FIRST-ORDER DYNAMIC SLIDING MODE VARIABLE STRUCTURE-BASED BRIDGE CRANE ANTI-SWING METHOD
Europäisches Patentamt | 2020
|Discrete sliding mode learning control method and system based on bridge crane
Europäisches Patentamt | 2023
|Bridge crane sliding mode control method based on unknown input observer technology
Europäisches Patentamt | 2022
|