The invention discloses a double-pendulum crane backstepping sliding mode control method based on a generalized proportional-integral observer, and the method comprises the steps: constructing a dynamic model of a double-pendulum crane system, rewriting the dynamic model of the double-pendulum crane system, and designing the generalized proportional-integral observer; and effectively estimating the lumped interference and the state variable of the double-pendulum crane system by using a generalized proportional-integral observer to obtain an estimation signal, and designing the double-pendulum crane backstepping sliding mode control system according to the estimation signal. According to the double-pendulum crane system model, a generalized proportional-integral observer is designed, the observer can effectively estimate external interference and uncertainty in the model, and the anti-interference capability of the system is improved; and sliding mode surfaces are respectively designed for a drivable state variable and an under-actuated state variable of the system, so that the swinging of a load and a lifting hook is effectively inhibited.
本发明公开了一种基于广义比例积分观测器的双摆吊车反步滑模控制方法,构建双摆吊车系统的动力学模型,对双摆吊车系统的动力模型进行改写,并设计广义比例积分观测器;利用广义比例积分观测器对双摆吊车系统的集总干扰和状态变量进行有效估计,得到估计信号,根据所述估计信号设计双摆吊车反步滑模控制系统。本发明双摆吊车系统模型设计了广义比例积分观测器,该观测器可以有效的估计外部干扰和模型中的不确定性,提高了系统的抗干扰能力;且分别为系统的可驱动状态变量和欠驱动状态变量设计了滑模面,有效抑制了负载和吊钩的摆动。
Double-pendulum crane backstepping sliding mode control method based on generalized proportional-integral observer
基于广义比例积分观测器的双摆吊车反步滑模控制方法
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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