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针对双起升桥式吊车双吊具同步运行过程中普遍存在的建模不精确,系统参数变化和外部干扰不确定等问题,采用交叉耦合策略,提出一种直接自适应同步控制方法.该控制方法采用滑模控制原理,将PD控制律和自适应滑模切换项相结合,控制律结构简单,不需要预先已知系统参数信息.控制器采用自适应增益,确保滑模控制律的稳定,并采用变边界层技术抑制抖振现象.利用Lyapunov理论证明控制器是全局渐近稳定的.仿真结果表明了方法的有效性,在不确定扰动存在的情况下具有良好的动、稳态性能.“,”To overcome the uncertainties such as modeling inaccuracy, internal parametric perturbations and external disturbances commonly existed in double-container overhead crane system, a direct adaptive cross-coupled switching controller is proposed for the position synchronization of double-container overhead cranes. The control method consists of a sliding mode control law, a PD control law with adaptive compensation and a switching mechanism. The control method is computationally simple and requires little information regarding the overhead crane model or the payload. The proposed method is suitable for considerable structures, with amplitude limited control. An adaptive switching gain is designed to ensure the stability of sliding mode control. The boundary layer technique is adopted to eliminate the chattering phenomenon. The global stability and the convergence of the method are verified by Lyapunov stability theory. Finally, the simulation result shows the effectiveness of the proposed approach.