基于动态滑模的起重机位置控制系统设计

给出了起重机电机负载系统的数学模型，以此模型为基础，采用动态滑模控制理论，分别设计了系统的磁链动态滑模控制器和位置动态滑模控制器，考虑到系统转子磁链无法直接测量，设计了转子磁链观测器；为保证动态滑模面的物理可实现性，对系统的不确定干扰设计了自适应律，进行自适应估计。仿真结果表明系统具有较好的动态性能，较高的位置控制精度及对干扰具有良好的鲁棒性。

Position control system for crane based on dynamic sliding mode

The paper gives math model of crane motor load system, designs the flux dynamic sliding mode and position dynamic sliding mode controllers for the motor load system using dynamic sliding mode control theory, and rotor flux observer due to being unable directly to measure rotor＇s flux. To ensure physical realization of the dynamic sliding mode surface, it also designs the adaptive laws to uncertain disturbances of the system and estimates them. The simulation results show that the system has better dynamic performance, precise position control and better robustness to disturbance.