摘要
针对桥式吊车这类欠驱动系统,提出一种基于滑模控制的抗摆方法.该方法将系统状态分成两组,构造出一种双层滑动平面.结合桥式吊车系统数学模型的特点,求取了总的滑模控制量并进一步设计了控制器的参数.采用Lyapunov方法,从理论上证明了各级滑动平面的稳定性.仿真结果验证了该方法对于桥式吊车系统抗摆控制的有效性.
An anti-swing controller based on the sliding-mode method for an overhead crane which belongs to a kind of underactuated systems is presented. The system states are divided into two parts and a kind of two-layer sliding plane is constructed. Using the features of the mathematical model of overhead cranes, the sliding-mode control law is derived and further the parameters of the controller are designed. Using Lyapunov methods, the stability of all sliding plane is proved theoretically, and the simulation results show the validity of this method for the anti-swing control of overhead cranes.
出处
《控制与决策》
EI
CSCD
北大核心
2004年第9期1013-1016,1021,共5页
Control and Decision
