The invention discloses a bridge crane discrete sliding mode control method and system based on a Kalman filter, and the method comprises the steps: building a kinetic equation according to an actual bridge crane, converting a nonlinear system into a continuous state space form through linearization, and converting the nonlinear system into a discrete system model through discretization; designing an extended discrete system, and observing the state quantity and uncertainty disturbance of the system by using a Kalman filter; designing a self-adaptive discrete sliding mode reaching law containing an interference estimation item; obtaining a discrete sliding mode control law according to equivalent control; and in combination with the Kalman filter and the adaptive discrete sliding mode reaching law, constructing adaptive discrete sliding mode control based on the Kalman filter. According to the method, the influence of uncertain outside and noise 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 load swing suppression can be realized.

    本发明公开了一种基于卡尔曼滤波器的桥式起重机离散滑模控制方法及系统,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,通过离散化将其转化为离散系统模型;设计扩展的离散系统,使用卡尔曼滤波器观测系统的状态量以及不确定性扰动;设计含有干扰估计项的自适应离散滑模趋近律;根据等效控制得出离散滑模控制律;结合所述卡尔曼滤波器、所述自适应离散滑模趋近律,构建了基于卡尔曼滤波器的自适应离散滑模控制。本发明有效地抑制了存在不确定性外界及噪声等的影响,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。


    Access

    Download


    Export, share and cite



    Title :

    Bridge crane discrete sliding mode control method and system based on Kalman filter


    Additional title:

    基于卡尔曼滤波器的桥式起重机离散滑模控制方法及系统


    Contributors:
    OUYANG HUIMIN (author) / SHI RONG (author)

    Publication date :

    2023-09-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



    Discrete sliding mode predictive control method for bridge crane

    OUYANG HUIMIN / SHI RONG | European Patent Office | 2022

    Free access

    Discrete sliding mode learning control method and system based on bridge crane

    OUYANG HUIMIN / SHI RONG | European Patent Office | 2023

    Free access

    Bridge crane system control method based on sliding mode control theory

    YANG WEILIN / CHEN JIAYU / XU DEZHI | European Patent Office | 2020

    Free access

    Bridge crane control method and system based on sliding mode control and low-pass filter

    HUANG XIN / LOU XUYANG | European Patent Office | 2023

    Free access

    Bridge crane sliding mode control method based on unknown input observer technology

    CHEN QIANG / LI HAORAN / ZHU ZHENGYANG et al. | European Patent Office | 2022

    Free access