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桥吊本质上是一类复杂的欠驱动非线性机械系统,其控制器设计具有一定的难度。本文针对桥吊绳长变化情况下的集装箱桥吊的防摇定位控制问题,提出了一种基于多滑模面的变结构控制方法,它能够在集装箱桥吊绳长变化的情况下较好地实现桥吊的防摇定位控制;另外,还讨论了所提出的控制器的防抖振问题。所提出的控制方法不需要知道桥吊数学模型的精确信息,具有结构简单,容易实现的特点,同时具有较强的鲁棒性。仿真结果证实了该控制方法的良好效果。
Bridge crane is essentially a class of complex under-driven nonlinear mechanical systems, the controller design has a certain degree of difficulty. In this paper, aiming at the anti-rolling positioning control problem of container bridge crane with long variation of bridge sling, a variable structure control method based on multi-sliding surface model is proposed. It can better control the long- So as to realize the anti-shake positioning control of the bridge crane. In addition, the anti-buffering problem of the proposed controller is also discussed. The proposed control method does not need to know the accurate information of the mathematical model of bridge crane. It has the characteristics of simple structure and easy realization, and strong robustness. Simulation results confirm the good effect of this control method.