|
|
Adaptive Decoupled Sliding Mode Control for Overhead Crane Mechanical System |
ZHANG Zhi-ming1,2,ZHENG Wei1,XIE Ping1,WANG Hong-bin1,LI Ning1,WEN Shu-huan1,WANG Hong-rui3 |
|
|
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.
|
Received: 10 April 2018
Published: 01 September 2019
|
|
|
|
|
[1]张立国, 李晓松, 肖磊, 等. 基于单目视觉的四旋翼飞行器目标跟踪算法研究 [J]. 计量学报, 2018, 39(3): 342-347.
Zhang L G, Li X S, Xiao L, et al. The target tracking algorithm based on monocular vision for four rotor aircraft. [J]. Acta Metrologica Sinica, 2018, 39(3): 342-347.
[2]Hwang C L, Chiang C C, Yeh Y W. Adaptive fuzzy hierarchical sliding-mode control for the trajectory tracking of uncertain underactuated nonlinear dynamic systems [J]. IEEE Transactions on Fuzzy Systems, 2017, 22(2): 286-299.
[3]李文江, 林思建, 王璇. 一种辨识Hammerstein模型的新方法[J]. 计量学报, 2015, 36(4): 418-422.
Li W J, Lin S J, Wang X. A new method for identifying the Hammerstein model. Acta Metrologica Sinica, 2015, 36(4): 418-422.
[4]Hung L C, Chung H Y. Decoupled control using neural network-based sliding-mode controller for nonlinear systems [J]. Expert Systems with Applications, 2007, 32(4): 1168-1182.
[5]时培明, 孙鹏, 袁丹真. 基于非线性耦合双稳态随机共振的轴承微弱故障信号增强检测方法研究 [J]. 计量学报, 2018, 39(3): 373-376.
Shi P M, Sun P. Yuan D Z. The weak signal enhancement detection method based on nonlinear coupled bistable stochastic resonance for bearing fault [J]. Acta Metrologica Sinica, 2018, 39(3): 373-376.
[6]陈旺达, 徐志玲, 厉志飞. 游标类量具检定装置的驱动系统误差补偿 [J]. 计量学报, 2018, 39(3): 326-331.
Chen W D, Xu Z L, Li Z F. The error compensation of drive system of verification device for vernier species measuring tools [J]. Acta Metrologica Sinica, 2018, 39(3): 326-331.
[7]Sun N, Fang Y. Nonlinear tracking control of underactuated cranes with load transferring and lowering: Theory and experimentation [J]. Automatica, 2018, 50(9): 2350-2357.
[8]刘金琨. 滑模变结构控制MATLAB仿真[M]. 2版. 北京: 清华大学出版社, 2012: 16-18.
[9]Edwards C, Shtessel Y B. Adaptive continuous higher order sliding mode control [J]. Automatica, 2016, 65(1): 183-190.
[10]Cong B L, Liu X D, Chen Z. Exponential time-varying sliding mode control for large angle attitude eigenaxis maneuver of rigid spacecraft [J]. Chinese Journal of Aeronautics, 2010, 23(4): 447-453.
[11]Bayramoglu H, Komurcugil H. Time-varying sliding-coefficient-based terminal sliding mode control methods for a class of fourth-order nonlinear systems [J]. Nonlinear Dynamics, 2013, 73(3): 1645-1657.
[12]Zhang X, Sun L, Zhao K, et al. Nonlinear speed control for PMSM system using sliding-mode control and disturbance compensation techniques [J]. IEEE Transactions on Power Electronics, 2016, 28(3): 1358-1365.
[13]方勇纯. 非线性系统理论 [M]. 北京: 清华大学出版社, 2009: 14-15. |
|
|
|