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根据物料提升机的控制特性,采用多模态滑模控制方法,实现了单斗链式旋臂物料提升机安全、精确、快速的位置控制。首先给出物料提升机的物理结构,并根据拉格朗日方程建立了其动力学模型。然后,为物料提升机设计了分时控制策略,减少传输过程中的安全隐患。而后,设计了由线性滑模和非奇异终端滑模组成的多模态滑模控制策略,实现快速精确的物料提升机位置控制。原理是:当位置误差较大时,利用线性滑模快速收敛的特性达到快速控制;当位置误差较小时,利用非奇异终端滑模有限时间到达的特性实现精确控制。最后,对上述控制算法进行仿真,结果表明采用多模态滑模的物料机位置控制策略具有安全、精确、快速的控制效果。
According to the control characteristics of the material hoist, a multi-mode sliding mode control method is adopted to realize the safe, accurate and rapid position control of the single bucket chain arm hoist. First, the physical structure of material hoist is given and its dynamic model is established according to Lagrange equation. Then, a time-sharing control strategy is designed for material hoist to reduce the potential safety hazard during the transmission. Then, a multi-modal sliding mode control strategy composed of linear sliding mode and non-singular terminal sliding mode is designed to realize fast and accurate position control of material hoist. The principle is that when the position error is large, the characteristics of the rapid convergence of the linear sliding mode can be quickly controlled; when the position error is small, the precise control can be achieved by using the characteristic that the non-singular terminal sliding mode reaches the limited time. Finally, the above control algorithm is simulated. The results show that the control strategy of material-machine based on multi-modal sliding mode is safe, accurate and rapid.