基于螺旋算法的桥吊时变滑模控制器设计

Design of Overhead Cranecontroller based on Twisting Algorithm and Time-varying Sliding Mode Structure

摘要:

针对桥吊防摇定位控制中普遍存在的参数变化和摩擦等不确定性扰动以及滑模变结构控制的抖振问题,基于LuGre摩擦力模型和桥吊的动力学模型,采用基于螺旋算法的二阶滑模控制技术,提出了一种基于螺旋算法的时变滑模控制方法;该方法首先利用时变滑模技术实现了控制器在滑模趋近阶段无鲁棒性的问题,然后采用螺旋算法抑制了桥吊运行过程中存在的不确定性扰动,并且使得控制律为连续信号,从而有效抑制了抖振;利用李雅普诺夫方法证明了该控制器全局稳定性,并保证其有限时间内收敛特性；仿真结果表明了控制方法的有效性。

Abstract:

To solve the problem of variable parameters uncertain disturbance the chattering of sliding mode variable structure control of overhead crane, a second-order sliding mode controller based on twisting algorithm is designed based on LuGre friction model and dynamic model of overheadcrane. This method use time-varying sliding mode control method to achieve the problem of the reaching phase without robust. At the same time, this method use the twisting algorithm to suppresses the uncertain disturbance in the run of overhead crane, and make the control law be a smooth signal, so as to effectively restrain the chattering.The global stability and the convergence of the designed controller are proved by using Lyapunov method. The simulation results have proved the effectiveness of the proposed control algorithm.