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双起升桥吊双吊具存在的参数摄动和不确定干扰问题严重影响了双吊具同步协调运行的效果.鉴于此,分析桥吊双吊具不同工作模式的运行特性,采用交叉耦合策略,提出一种基于参数自整定的双吊具鲁棒自适应滑模同步协调控制方法.采用变边界层技术解决滑膜控制需折中稳态误差和抖振平滑的难题,利用自整定切换函数增益消除不确定扰动,并利用Lyapunov理论证明控制器的渐近稳定性.桥吊控制实验表明了所提出方法的有效性.
The problem of parameter perturbation and uncertain interference existing in double hoisting crane has a serious impact on the synchronous and coordinated operation of double hoist.In view of this, the paper analyzes the operating characteristics of different working modes of double hoisting crane and adopts cross-coupling strategy , A robust adaptive sliding-mode synchronous coordinated control method based on parameter self-tuning is proposed.The variable boundary layer technique is used to solve the problem of synchrotron error and chattering smoothing in synchrotron synchro control, and the self-tuning switching function The gain is used to eliminate the uncertain perturbation and the asymptotic stability of the controller is proved by using Lyapunov theory.The experiment of bridge crane control shows the effectiveness of the proposed method.