南京理工大学学报（自然科学版）2024，Vol.48Issue(2)：165-174,10.DOI:10.14177/j.cnki.32-1397n.2024.48.02.006
基于自适应分层滑模的塔式起重机防摆与定位控制
Anti-swing and positioning control of tower cranes based on adaptive hierarchical sliding mode
摘要
Abstract
To solve the anti-swing positioning control problem of a tower crane with two-stage swing structure in three-dimensional space,an adaptive hierarchical sliding mode control scheme is proposed considering the combined operation condition of luffing and slewing.Firstly,the tower crane system is divided into positioning subsystem,one-stage swing angle subsystem and two-stage swing angle subsystem,and a hierarchical sliding mode control law is designed;then an adaptive law is designed to improve the adaptability of the system to parameters and the suppression performance of external interference;finally,the stability of the system is verified and the system is simulated.The simulation results show that when the system is subjected to instantaneous disturbances,the adaptive law estimates the size of the disturbance,and the controller quickly respondes by adjusting the control force/torque to offset the instantaneous disturbance,so that the instantaneous disturbance does not have a significant impact on the position of the system and the swing angle of the hook and load.The adaptive layered sliding mode controller here suppresses the swinging of hooks and loads caused by instantaneous disturbances with good robustness.关键词
自适应控制/分层滑模控制/塔式起重机/防摆/定位/瞬时扰动/位置/摆角Key words
adaptive control/hierarchical sliding mode control/tower cranes/anti-swing/positioning/instantaneous disturbance/position/swing angle分类
信息技术与安全科学引用本文复制引用
王丁军,周慧,叶嵩,郭毓,郭健..基于自适应分层滑模的塔式起重机防摆与定位控制[J].南京理工大学学报（自然科学版）,2024,48(2):165-174,10.基金项目
国家自然科学基金(61973167) （61973167）
江苏省建设系统科技项目(2019ZD001244 （）
2019ZD001252) （）
江苏高校优势学科建设工程 （）
