基于快速非奇异终端滑模的三维天车负载摆动控制

doi:10.13229/j.cnki.jdxbgxb.20220080

摘要/Abstract

摘要：

对于三维天车防摆控制系统易受参数摄动、外部未知干扰等不确定因素影响的问题，提出了一种基于参数自适应的快速非奇异终端滑模控制方法。针对三维天车系统动力学模型，考虑负载质量和缆绳长度时变、外部干扰等不确定性因素，基于滑模控制理论，构造了含有位移偏差和负载摆动角度的复合滑模面，设计了滑模参数自适应律，实现了控制器增益根据系统误差自动整定，保证了位移误差和摆动角度在有限时间内收敛到零。与现有控制方法仿真对比，本文控制方法可以使天车在3.5 s内到达目标位置且不发生超调，有效抑制了负载摆动，最大摆动角度不超过3°，快速消除了负载的残余摆动。结果表明，该方法改善了天车系统的动态响应性能，增强了控制系统的鲁棒性和抗干扰性。

关键词: 自动控制技术, 天车系统, 欠驱动系统, 负载摆动, 终端滑模控制, 参数自适应

Abstract:

A parameter-adaptive fast non-singular terminal sliding mode control method is proposed to address the problem of the three-dimensional overhead crane anti-sway control system， which is susceptible to unknown factors from parameter perturbations and external disturbances. Considering the uncertainties such as the time-varying of payload mass and rope length in the dynamics model of the three-dimensional overhead crane system， as well as external disturbances， this method is based on sliding mode control theory. A composite sliding surface that accounts for both position deviation and payload swing angle is constructed. Moreover， a parameter-adaptive law to automatically tune the controller gains based on the system's errors is designed and ensures that displacement errors and swing angles converge to zero within a finite time. When compared to existing control methods through simulations， the proposed method allows the overhead crane to reach the desired displacement within 3.5 s without overshooting. It effectively suppresses payload swinging， ensuring that the maximum swing angle does not exceed 3 deg. Additionally， it rapidly eliminates any residual swing of the payload. These results indicate that proposed method enhances the dynamic response performance of the overhead crane system， and improving the robustness and disturbance rejection capabilities of the control system.

Key words: automatic control technology, overhead cranesystem, underactuated system, payload swing, terminal sliding mode control, parameter self-adaption

中图分类号:

TP273

王守瑞,靳伍银,芮执元,张霞. 基于快速非奇异终端滑模的三维天车负载摆动控制[J]. 吉林大学学报(工学版), 2023, 53(12): 3508-3517.

Shou-rui WANG,Wu-yin JIN,Zhi-yuan RUI,Xia ZHANG. Payload swing control for 3D overhead crane based on fast non⁃singular terminal sliding mode[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(12): 3508-3517.

图/表 8

图1

表1

参数定义"

符号	意义	单位
$m$	负载质量	kg
$m x$	小车质量	kg
$m y$	小车和桥架质量之和	kg
$g$	重力加速度	m/s²
$θ x$	x方向负载摆角	°
$θ y$	y方向负载摆角	°
$l$	缆绳长度	m
$f x$	小车驱动力	N
$f y$	大车驱动力	N

表1

图2

图3

图4

图5

图6

图7

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