The invention discloses a discrete sliding mode learning control method and system for a bridge crane, and the method comprises the steps: building a kinetic equation according to an actual bridge crane, and converting a nonlinear system into a continuous state space form through linearization; then, through discretization, the model is converted into a discrete system model; estimating a control input matrix of the system by using the measured input and output data by using a parameter estimation method, designing a disturbance observer based on the output data, estimating uncertainty disturbance and compensating the uncertainty disturbance into an input channel; defining a discrete sliding mode surface through the state quantity error, and designing a discrete sliding mode learning controller; according to the control method provided by the invention, the adverse effects of uncertain disturbance, unmodeled dynamics and the like on the system are effectively inhibited, the stable convergence speed of the system is improved, the robustness of the control system is enhanced, and finally, the load can quickly reach the target position and swing inhibition can be realized.
本发明公开了一种桥式起重机的离散滑模学习控制方法及系统,方法包括:根据实际桥式起重机建立动力学方程,通过线性化,将非线性系统转换为连续状态空间的形式;然后通过离散化,将其转化为离散系统模型;利用参数估计方法,用测量到的输入输出数据对系统的控制输入矩阵进行估计,基于输出数据,设计扰动观测器,估计不确定性扰动并补偿到输入通道中;通过状态量误差定义离散滑模面,设计离散滑模学习控制器;本发明提供的控制方法有效地抑制了系统在受到不确定性扰动、未建模动态等不良影响,使系统稳定收敛速度得到了提高,增强了控制系统的鲁棒性,最终能够使负载实现快速到达目标位置与摆动抑制。
Discrete sliding mode learning control method and system based on bridge crane
一种基于桥式起重机的离散滑模学习控制方法及系统
2023-09-08
Patent
Elektronische Ressource
Chinesisch
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