Terminal sliding mode anti-swing control method and system for underactuated crane system based on disturbance observer

A technology of disturbance observer and terminal sliding mode, applied in geometric CAD, design optimization/simulation, special data processing applications, etc., can solve problems such as loss of function, and achieve the effect of solving swing elimination and tracking control problems

Active Publication Date: 2022-06-24
QUFU NORMAL UNIV
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Problems solved by technology

Once the interference information cannot be obtained accurately, the existing control methods will be useless

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  • Terminal sliding mode anti-swing control method and system for underactuated crane system based on disturbance observer
  • Terminal sliding mode anti-swing control method and system for underactuated crane system based on disturbance observer
  • Terminal sliding mode anti-swing control method and system for underactuated crane system based on disturbance observer

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[0049] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0050] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0051] It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates that There are features, steps, operations, devices, compon...

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Abstract

The invention discloses a terminal sliding mode anti-swing control method and system of an underactuated crane system based on a disturbance observer, and uses a finite time disturbance observer to estimate external disturbances. A finite-time control law is designed by transforming the system into a chain system, combining disturbance observer and introducing proper sliding surface. The analysis shows that when the external disturbance exists, the designed controller can adjust the trolley to reach the predetermined trajectory within a limited time, so as to realize the precise positioning of the trolley and the restraint of the load swing angle. The simulation results illustrate the effective control effect of the proposed control method in realizing the positioning and swing elimination of the trolley.

Description

technical field [0001] The invention belongs to the technical field of underactuated crane sway control, and in particular relates to a terminal sliding mode slew control method and system for an underactuated crane system based on a disturbance observer. Background technique [0002] Underactuated cranes are an indispensable part of modern transportation, construction, and logistics industries, and their pendulum suppression and positioning control have received a lot of attention from scholars at home and abroad. At the same time, with the rapid development of modern technology, people continue to put forward new requirements for the crane's anti-swing positioning control performance. Correspondingly, various control algorithms have been proposed one after another. [0003] The early control method used to eliminate pendulum is mainly open-loop control. Open-loop control mainly includes input shaping, offline trajectory planning and optimal open-loop control. The specif...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F30/15
CPCG06F30/15G06F30/20
Inventor 张中才武玉强曹佃国李莉黄金明
Owner QUFU NORMAL UNIV
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