桥式天车机械系统自适应解耦滑模控制研究

基于拉格朗日方程建立了桥式天车机械系统的动力学模型,并对建立的动力学模型进行简化分析,为控制器的设计奠定了理论基础。首先,针对桥式天车机械系统建模时存在的耦合性问题,构建新型饱和函数;其次,基于构建的新型饱和函数,设计出解耦滑模控制器,用来实现负载运送过程中桥式天车的快速定位与负载的消摆;然后,引入自适应参数,用来削弱了解耦滑模控制器控制过程中由于开关增益造成的系统抖振问题;最后基于桥式天车机械系统的动力学模型进行模拟仿真。仿真实验结果表明基于自适应参数而设计的解耦滑模控制器具有良好的控制性能,并且能够提高机械系统的动态特性。

Adaptive Decoupled Sliding Mode Control for Overhead Crane Mechanical System

The dynamic model of the overhead crane mechanical system was constructed by employing the Lagrange equation theory, then the model was simplified and analyzed. First, the new saturation function was introduced for the coupling problem of the overhead crane mechanical system. Secondly, the decoupled sliding mode controller was designed based on the saturation function, the desired trajectory can be tracked precisely, and the position tracking error of the swing angle can converge to an adjustable bounded region. Then, by introducing the adaptive parameter, the chattering problem caused by the switching gain of the decoupled sliding mode controller can be solved. Finally, the simulations were performed to show the effectiveness of the proposed methods. From the simulations, it can be seen that the decoupled sliding mode controller with adaptive parameter has better control performance, and the dynamic characteristics of the mechanical system is improved.