A fixed time anti-interference sliding mode tracking control method for an under-actuated bridge crane comprises the following steps: firstly, designing a disturbance observer which can converge in fixed time and is used for accurately estimating disturbance in a system so as to provide effective disturbance compensation information for a subsequent control strategy; secondly, in combination with the fixed time disturbance observer, a sliding mode controller is provided to ensure that the crane can accurately track a given trajectory and enable a tracking error to converge to a sliding mode surface within a fixed time. According to the invention, accurate positioning of the trolley can be realized, and load swing can be effectively inhibited in a complex environment. According to the method, the control precision and robustness of the under-actuated bridge crane in a disturbed environment can be remarkably improved, and an effective solution is provided for crane control under complex working conditions.
一种欠驱动桥式起重机的固定时间抗扰滑模跟踪控制方法,首先,设计了一种能够在固定时间内收敛的扰动观测器,用于精确估计系统中的扰动,从而为后续控制策略提供有效的扰动补偿信息;其次,结合该固定时间扰动观测器,提出了一种滑模控制器,旨在确保起重机能够精确跟踪给定轨迹,并且使得跟踪误差在固定时间内收敛至滑模面。本发明不仅能够实现对台车的精确定位,而且能够在复杂环境下有效抑制负载摆动。本发明能够显著提升欠驱动桥式吊车在受扰动环境下的控制精度与鲁棒性,为复杂工况下的吊车控制提供了有效的解决方案。
Fixed time anti-interference sliding mode tracking control method for under-actuated bridge crane
一种欠驱动桥式起重机的固定时间抗扰滑模跟踪控制方法
2025-03-21
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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