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基于滑模方法的桥式吊车系统的抗摆控制
引用本文:王 伟,易建强,赵冬斌,刘殿通.基于滑模方法的桥式吊车系统的抗摆控制[J].控制与决策,2004,19(9):1013-1016.
作者姓名:王 伟  易建强  赵冬斌  刘殿通
作者单位:中国科学院,自动化研究所复杂系统与智能科学重点实验室,北京,100080
摘    要:针对桥式吊车这类欠驱动系统,提出一种基于滑模控制的抗摆方法.该方法将系统状态分成两组。构造出一种双层滑动平面.结合桥式吊车系统数学模型的特点。求取了总的滑模控制量并进一步设计了控制器的参数.采用Lyapunov方法,从理论上证明了各级滑动平面的稳定性.仿真结果验证了该方法对于桥武吊车系统抗摆控制的有效性.

关 键 词:桥式吊车  抗摆控制  滑模控制  欠驱动系统
文章编号:1001-0920(2004)09-1013-04

Anti-swing control of overhead cranes based on sliding-mode method
WANG Wei,YI Jian-qiang,ZHAO Dong-bin,LIU Dian-tong.Anti-swing control of overhead cranes based on sliding-mode method[J].Control and Decision,2004,19(9):1013-1016.
Authors:WANG Wei  YI Jian-qiang  ZHAO Dong-bin  LIU Dian-tong
Abstract:An anti-swing controller based on sliding-mode method for overhead crane which belongs to a kind of underactuated systems is presented. The system states are divided into two parts and a kind of two-layer sliding plane is constructed. Using the features of the mathematical model of overhead cranes, the sliding-mode control law is derived and further the parameters of the controller are designed. Using Lyapunov method, the stability of all sliding plane is proved theoretically, and the simulation results show the validity of this method for the anti-swing control of overhead cranes.
Keywords:overhead crane  anti-swing control  sliding-mode control  underactuated system
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