Control Method of Vertical Material Conveyor Based on Sliding Mode Adaptive Robust Control

Abstract

The invention discloses a control method of a vertical material conveying device based on sliding mode self-adaptive robust control, which comprises the following steps: constructing a mathematical model of the vertical material conveying device; planning the expected motion trajectory of the vertical material conveying device; constructing a sliding Modular adaptive robust control system; constructing the control law of the vertical material conveying device, combined with the sliding mode adaptive robust control system, the position control of the vertical material conveying device can be realized. Based on the sliding mode controller, this method designs a reasonable adaptive control law for the unknown parameters in the vertical material conveying device to compensate the influence of the model uncertainty on the control system. In addition, the present invention also designs an adaptive control law for the robust item coefficient in the traditional sliding mode controller, which not only ensures the robustness of the traditional sliding mode control system but also reduces its chattering, further improving the performance of the control system, Realize high-precision position control of vertical material conveying devices with parameter perturbation.

Description

technical field [0001] The invention belongs to the technical field of material conveying device control, in particular to a control method for a vertical material conveying device based on sliding mode self-adaptive robust control. Background technique [0002] Material conveying devices are widely used in machinery, construction, ship dock warehouses and other places that require cargo transportation. Common material conveying devices are classified into three types: belt type, gear type and chain type according to the transmission mode. [0003] As a chain drive material conveying device, the vertical material conveying device has the advantages of good reliability, high transmission efficiency and compact space. There are two types of traditional vertical material conveying device control: one is the traditional PID control that is not based on mathematical models, and the intelligent PID control technology evolved on this basis. Design and position control", the author...

AI Technical Summary

Problems solved by technology

There are two types of traditional vertical material conveying device control: one is the traditional PID control not based on mathematical models, and the intelligent PID control technology evolved on this basis. Design and position control", the author combines PID control and fuzzy adaptive control algorithm to obtain better position control accuracy, but the accuracy of this algorithm is greatly affected by system disturbance and uncertain items, in the controlled system When there is a large disturbance, it is impossible to complete the position control with higher precision; the other is an advanced control algorithm based on a precise mathematical model, such as the document "The Optimal Guaranteed Performance Control Algorithm for Chained Automatic Magazines", According to the theoretical basis of robust control algorithm, the dynamic equation of automatic magazine is simplified to the standard equation of linear uncertainty system, and the optimal robust control algorithm is obtained by using simulation tools. The calculation results show that higher control accuracy can be obtained, but this algorithm does not consider the influence of factors such as shock, vibration and nonlinear friction on the magazine model during the movement of the magazine.

To sum up, the control system constructed in the traditional way cannot realize the precise position control of the vertical material conveying device.

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