桥式吊车系统的分级滑模控制方法

该文针对桥式吊车这一类欠驱动系统提出了一种分级滑模控制方法.该方法将系统状态分成两组,分别构造第一级滑动平面,并求取各个子滑动平面上的等效控制量.然后再构造第二级滑动平面,采用Lyapunov稳定定理获得最终的控制量.该控制量包含各子滑动平面的等效控制分量,因此能够保证系统状态沿着各个子滑动平面滑动.该文从理论上证明了各级滑动平面的渐近稳定性,并且通过仿真验证了该结果.

Hierarchical Sliding-Mode Control Method for Overhead Cranes

A new hierarchical sliding-mode control method for overhead crane is presented. In this method, system states are divided into two parts. Two first-level sub-sliding planes are designed, and then the second-level sliding plane is constructed. Using Lyapunov law, we can derive the sliding-mode control law which includes the equivalent control of every sub-sliding plane. Therefore, the total sliding mode control law can drive every subsystem to move along its own sub-sliding plane. The paper theoretically proves the asymptotic stability of all the sliding planes, and the simulation results show its validity.