二维桥式起重机的滑模控制

基于滑模控制理论,研究二维桥式起重机的控制器设计问题.首先,考虑小车端受到外界干扰的情况以及利用一些等价变换,得到一个四阶桥式起重机动力学模型;然后,根据得到的动力学方程,分别设计一种比例微分滑模控制器和一种比例微分积分滑模控制器,进而通过构造李雅普诺夫函数的方法证明两种控制器下滑模面的可达性和系统的稳定性;最后,设计1组对比仿真实验和1组在自制的桥式起重机实验平台上的验证性实验.实验结果表明,所设计的两种滑模控制器均可以使桥式起重机达到给定的控制目标.

Sliding mode control of two-dimensional overhead crane

Based on the sliding mode control theory, this paper studies the controller design of a two-dimensional overhead crane. In this paper, a four-order dynamic model of the overhead crane is firstly obtained considering the external disturbance of the trolley end and using some equivalent transformations. Then, according to the obtained dynamic equations, a proportional differential sliding mode controller and a proportional differential integral sliding mode controller are designed respectively, and the sliding mode surface accessibility and the stability of the system of the two controllers are proved by constructing the Lyapunov functions. Finally, this paper designs a group of comparative simulation experiments and a group of verification experiments on the self-made overhead crane test platform. The experimental results show that the two kinds of sliding mode controllers designed can achieve the given control goal of the overhead crane.