The invention discloses a discrete sliding mode predictive control method for a bridge crane, which comprises the following steps of: establishing and converting a two-dimensional bridge crane discrete system model in the presence of matched disturbance and non-matched disturbance at the same time according to actual parameters of the bridge crane and a Lagrange kinetic equation; designing a disturbance observer; designing a discrete sliding mode exponential reaching law containing an interference estimation item; obtaining a discrete sliding mode control law according to equivalent control; outputting an optimal control sequence by using model prediction control so as to drive a system to output to the sliding mode surface; and in combination with the disturbance observer, the discrete sliding mode surface reaching law and the optimal control sequence, constructing sliding mode prediction control of discrete time. According to the control method provided by the invention, the influence of uncertainty, external uncertain disturbance and the like is effectively suppressed, the stable convergence speed of the system is improved, the robustness of the control system is enhanced, and finally, the target position can be quickly and efficiently reached and the load swing suppression can be realized.
本发明公开了一种桥式起重机的离散滑模预测控制方法,包括:根据实际桥式起重机的参数和拉格朗日动力学方程,建立并转化为同时存在匹配扰动和非匹配扰动下的二维桥式起重机离散系统模型;设计一种干扰观测器;设计含有干扰估计项的离散滑模指数趋近律;根据等效控制得出离散滑模控制律;利用模型预测控制输出最优控制序列以驱动系统输出到所述滑模面;结合所述干扰观测器、所述离散滑模面趋近律以及所述最优控制序列,构建离散时间的滑模预测控制。本发明提供的控制方法有效地抑制了存在不确定性与外界不确定扰动等的影响,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,最终能够实现快速高效的到达目标位置与负载摆动抑制。
Discrete sliding mode predictive control method for bridge crane
一种桥式起重机的离散滑模预测控制方法
2022-09-02
Patent
Electronic Resource
Chinese
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