双起升桥吊双吊具同步协调控制

针对双起升桥式吊车双吊具同步协调运行过程中普遍存在的系统参数变化和摩擦等不确定扰动问题, 本文基于双吊具的非线性感应电机动态数学模型及其耦合动力学模型, 提出了一种时变分层增量式滑模控制和自适应补偿相结合的双吊具同步协调控制方法. 该方法首先利用时变滑模技术实现了控制器在滑模趋近阶段的鲁棒性控制, 并采用分层增量形式的滑模面设计方法简化了控制器参数选取. 然后, 采用自适应补偿技术抑制了双吊具运行中存在的不确定扰动, 同时减小了切换函数的增益值. 此外, 在切换函数设计中采用了指数趋近技术, 使滑模控制器的抖振现象明显降低. 最后, 利用Lyapunov方法证明了该方法的全局稳定性和收敛性, 并通过数值仿真和物理实验验证了该方法的有效性.

Synchronous control of double-container in overhead crane system

To deal with the internal parametric perturbation and the external disturbance commonly existing in the synchronous control of double-container in an overhead crane system, we propose a synchronous control strategy for the double-container. This strategy is based on the coupling dynamic model of nonlinear induction motors of the doublecontainer and employs the time-varying hierarchical incremental sliding mode method in combination with the adaptive disturbance compensation scheme. The time-varying sliding mode method is used to realize a robust control during the reaching phase of the sliding mode, and the hierarchical incremental sliding mode surface is used to simplify the selection of controller parameters. The adaptive disturbance compensation restrains the uncertain disturbance existing in the synchronous control of the double-container, and reduces the gain value of the switching function at the same time. In the design of the switching function, an exponential approaching technique is adopted to eliminate the chattering phenomenon effectively. The global stability and the convergence of the method are verified by Lyapunov stability theory. The numerical simulation result and the physical experimental result show the effectiveness of the approach.