The invention relates to the technical field of tower crane anti-swing motion control, in particular to a six-degree-of-freedom tower crane anti-swing control method and system based on sliding mode control. Building a tower crane dynamic model based on a Lagrange method; linearizing the tower crane at a balance position by using the constructed dynamic model of the tower crane; designing a sub-sliding mode surface according to the state information of the tower crane and the selected error signal, and designing a preliminary control law by utilizing a principle that the change rate of a Lyapunov function is negative; estimating unknown disturbance and model uncertainty by using an adaptive algorithm to obtain an updated control law; designing a total sliding mode surface, introducing an auxiliary function, and selecting a proper reaching law to solve an auxiliary control law; and combining the updated control law with the auxiliary control law to obtain a final control law. Through the method of constructing the layered sliding mode surface and introducing the self-adaptive algorithm, the problem that the tower crane is easily interfered in a complex environment is effectively solved, and the working efficiency and the performance of the tower crane are remarkably improved.

    本发明涉及塔式吊车防摇运动控制技术领域,特别是一种基于滑模控制的六自由度塔式起重机防摇控制方法及系统。基于拉格朗日方法构建塔式起重机动态模型;利用构建的塔式起重机动态模型将其在平衡位置线性化;根据塔式起重机的状态信息,根据选取的误差信号设计子滑模面,利用李雅普诺夫函数变化率负定的原则设计初步的控制律;利用自适应算法来估计未知扰动与模型不确定性得到更新后的控制律;设计总滑模面并引入辅助函数选取合适的趋近律来求出辅助控制律;将更新后的控制律与辅助控制律相结合得到最终的控制律。通过构造分层滑模面以及引入自适应算法的方法,有效地解决了塔吊在复杂环境中易受干扰的问题,显著地提升了塔吊的工作效率以及性能。


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    Title :

    Six-degree-of-freedom tower crane anti-swing control method and system based on sliding mode control


    Additional title:

    基于滑模控制的六自由度塔式起重机防摇控制方法及系统


    Contributors:
    OUYANG HUIMIN (author) / FANG ZIJIE (author) / MIAO XIAODONG (author) / YI HUI (author) / XI HUAN (author)

    Publication date :

    2025-03-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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