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

Abstract

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

CLC Number:

TP273

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.

Figures/Tables 8

Fig.1

Table 1

Definition of parameters"

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

Table 1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

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Payload swing control for 3D overhead crane based on fast non⁃singular terminal sliding mode

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