作者：于涛¹, 杨昆¹, 赵伟²

作者单位：1. 辽宁工业大学机械工程与自动化学院, 辽宁 锦州 121001;
2. 北京印刷学院信息工程学院, 北京 102600

关键词：桥式吊车;欠驱动;抗摆控制;解耦滑模控制

摘要：

针对欠驱动桥式吊车系统的抗摆控制问题，提出一种新型的解耦滑模控制算法。相比于传统解耦滑模控制算法，该控制算法采用可导的中间变量来定义系统的第二层滑动面，并利用等效控制关联增益法来调整解耦滑模控制器的切换增益；不但解决解耦滑模控制器等效控制的求取问题，而且能够有效降低解耦滑模控制器的抖振幅度。应用Lyapunov方法和Barbalat引理证明系统各层滑动面的渐近稳定性，并通过数值仿真实验验证所提出的控制算法的有效性。与已有控制算法的对比结果表明，该控制算法具有较好的控制性能和抖振抑制特性。

Anti-sway control of overhead crane system based on decoupled sliding mode control

YU Tao¹, YANG Kun¹, ZHAO Wei²

1. College of Mechanical Engineering and Automation, Liaoning University of Technology, Jinzhou 121001, China;
2. School of Information Engineering, Beijing Institute of Graphic Communication, Beijing 102600, China

Abstract: A novel decoupled sliding mode control algorithm is proposed for anti-sway control of an underactuated overhead crane system. Different from traditional decoupled sliding mode control algorithm, the proposed control algorithm uses a differentiable intermediate variable to define the second-layer sliding surface of the system and utilizes the equivalent-control-dependent gain method to adjust the switching gain of the decoupled sliding mode controller. This algorithm can not only solve the derivation problem of the equivalent control of the decoupled sliding mode controller, but also reduce the chattering level of the decoupled sliding mode controller effectively. The asymptotic stability of sliding surface at each layer is proven by applying Lyapunov method and Barbalat's lemma, and numerical simulation results are provided to demonstrate the validity of the proposed control algorithm. Compared with the existing control algorithms, the results show that the proposed control algorithm has better control performance and chattering suppression characteristic.

Keywords: overhead crane;underactuated;anti-sway control;decoupled sliding mode control

2017, 43(8): 95-100  收稿日期: 2016-12-10;收到修改稿日期: 2017-02-05

基金项目: 辽宁省自然科学基金指导计划项目（201602379）；辽宁省教育厅科学技术研究一般项目（L2015241）

作者简介: 于涛(1980-),男,天津市人,讲师,博士,研究方向为机器人运动分析与控制、滑模控制理论与应用。

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