The invention discloses a tower crane adaptive sliding mode control method based on an improved fruit fly optimization algorithm. The method comprises the following steps: step 1), designing an extended state observer for observing a load swing angle state; step 2), designing a self-adaptive sliding mode controller, feeding back the observed swing angle state to the self-adaptive sliding mode controller, enabling the trolley to be accurately positioned by the controller, and inhibiting the swing angle swing of the load at the same time; and step 3), optimizing parameters of the adaptive sliding mode controller through an improved fruit fly optimization algorithm so as to improve the control effect of the controller. By adopting the combination of the linear expansion observer and the self-adaptive sliding mode controller, the method has the characteristics that the swing angle is easy to observe, the controller is simple to physically realize, the control effect is good and the like; an improved fruit fly algorithm is used in parameter setting, population cooperation among fruit flies is enhanced, local optimum is avoided, and the control effect of the controller is improved.
本发明公开了一种基于改进果蝇优化算法的塔机自适应滑模控制方法,包括以下步骤;步骤1):设计扩张状态观测器,用于观测负载摆角状态;步骤2):设计自适应滑模控制器,将观测到的所述摆角状态反馈到自适应滑模控制器,控制器将使小车精确定位,同时抑制负载摆角摆动;步骤3):通过改进果蝇优化算法对自适应滑模控制器参数进行优化,从而提高控制器的控制效果。本发明采用线性扩张观测器和自适应滑模控制器的组合,具有摆角好观测、控制器物理实现简单、控制效果好等特点;参数整定方面使用了一种改进的果蝇算法,加强了果蝇间种群协作,避免陷入局部最优,提高控制器的控制效果。
Self-adaptive sliding-mode control method for tower crane based on improved fruit fly optimization algorithm
一种基于改进果蝇优化算法的塔机自适应滑模控制方法
2023-09-05
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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