Abstract：The dynamic model of the overhead crane mechanical system was constructed by employing the Lagrange equation theory, then the model was simplified and analyzed. First, the new saturation function was introduced for the coupling problem of the overhead crane mechanical system. Secondly, the decoupled sliding mode controller was designed based on the saturation function, the desired trajectory can be tracked precisely, and the position tracking error of the swing angle can converge to an adjustable bounded region. Then, by introducing the adaptive parameter, the chattering problem caused by the switching gain of the decoupled sliding mode controller can be solved. Finally, the simulations were performed to show the effectiveness of the proposed methods. From the simulations, it can be seen that the decoupled sliding mode controller with adaptive parameter has better control performance, and the dynamic characteristics of the mechanical system is improved.
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2019, Vol. 40 
