起重运输机械Issue(11)：58-61,4.
欠驱动桥式起重机自适应模糊滑模抗摆控制
摘要
Abstract
Aiming at anti-sway control problems of load of under-actuated overhead cranes,a fuzzy sliding-form control method is put forward in the paper.The whole system is divided into several sub-systems to design sliding-mode surfaces re-spectively from primary sliding-mode surface to secondary sliding-mode surface.Based on fuzzy logic and self-adaption ratio approaching the unknown non-linear function and interference upper boundary respectively,Lyapunov stability theory and sliding-mode control are applied to ensure stability of under-actuated system robust.The simulation result of the overhead cranes verifies effectiveness of such method.关键词
桥式起重机/模糊滑模/欠驱动系统/抗摆控制Key words
overhead crane/fuzzy sliding-form/under-actuated system/anti-sway control分类
信息技术与安全科学引用本文复制引用
刘林山,张悦..欠驱动桥式起重机自适应模糊滑模抗摆控制[J].起重运输机械,2013,(11):58-61,4.基金项目
吉林省教育厅“十一五”科学技术研究资助项目 （）
