桥式吊车的滑模变结构控制

针对变绳长桥式吊车系统负载快速和精确定位的要求，设计了一种滑模变结构控制器。基于系统的状态空间模型，分别设计了吊车位置和绳长的线性滑模面，在吊车位置滑模面中考虑负载摆动的速度项，实现了在小车和绳长定位的同时，消除负载摆动的控制目的。为了解决控制力的抖动问题，给出了将非连续函数连续化的方法，在保持控制效果的同时消除了控制力的抖振现象，从而提高了控制器的实用性。仿真实验结果证明，该控制器可实现变绳长吊车系统负载的定位要求。

Sliding Mode Variable Structure Control of an Overhead Crane

Motivated by the desire to achieve fast and precise positioning while mitigating performance and safety concerns associated with the swing motion,a sliding mode variable structure control scheme is presented for an overhead system with various cord length.Based on the state space model,two linear sliding mode surfaces are designed to regulate the cart position and cord length respectively.The velocity item of the swing angle is considered in the sliding mode surface for the cart position to eliminate the oscillation of the payload.To decrease the chattering of the control input,a continued arithmetic is applied to the discontinuous control input function,which improves the practicability of the controller.Simulation results show the effectiveness of the developed control scheme.