Sliding Mode Control of Bridge Crane

被引：0

作者：

Li, Xinqi ^{[1
]}

Shi, Lanting ^{[1
]}

Zhang, Yongli ^{[1
]}

Ma, Weiqiang ^{[1
]}

Wu, Kanglin ^{[1
]}

Chen, Lihan ^{[1
]}

机构：

[1] Tianjin Univ Technol & Educ, Tianjin 300222, Peoples R China

来源：

2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2022年

关键词：

Bridge crane; Underactuated system; Variable structure sliding mode control; Buffeting;

D O I：

10.1109/CCDC55256.2022.10033950

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Bridge crane is a typical underactuated system, and its controller design needs to meet the problems of load anti swing and accurate positioning. Aiming at this demand, a variable structure sliding mode controller is designed. The controller can realize the rapid positioning of the trolley and prevent the load swing. Because the control force will shake in the control process, the anti chattering method of the controller is also proposed. The simulation results show that the scheme can realize the rapid positioning of the trolley and the anti swing of the load, and has a good control effect.

引用

页码：4221 / 4224

页数：4

共 11 条

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