The invention discloses a bridge crane control method and system based on sliding mode control and a low-pass filter, and belongs to the technical field of anti-swing control of bridge cranes. The control system comprises a sensor, a boundary anti-swing sliding mode controller, a low-pass filter and an actuator. According to the method, for the buffeting problem of the controller, the gain of the sign function item in the sliding mode controller is dynamically adjusted through the low-pass filter, the amplitude of buffeting of sliding mode control is reduced, and damage to an actuator of the bridge crane is avoided. In addition, according to the anti-swing control method for the bridge crane containing boundary disturbance based on sliding mode control, the sliding mode surface is designed to be in an integral form, steady-state errors can be eliminated, and the positioning precision and stability of the bridge crane are improved.
本发明公开了基于滑模控制及低通滤波器的桥式起重机控制方法及系统,属于桥式起重机的防摆控制技术领域。该控制系统包含传感器、边界防摆滑模控制器、低通滤波器以及执行器;所述方法针对控制器抖振问题,通过低通滤波器动态的调节滑模控制器中符号函数项的增益,降低了滑模控制抖振的幅值,避免了桥式起重机执行器的损伤。另外,本发明提供的基于滑模控制的含有边界扰动的桥式起重机防摆控制方法,滑模面设计为积分形式,能够消除稳态误差,提高了桥式起重机的定位精度和稳定性。
Bridge crane control method and system based on sliding mode control and low-pass filter
基于滑模控制及低通滤波器的桥式起重机控制方法及系统
2023-01-20
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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