智能系统学报2024，Vol.19Issue(2)：344-352,9.DOI:10.11992/tis.202204003
基于扩张状态观测器的双摆吊车分层滑模控制
Hierarchical sliding mode control of a double pendulum crane with an extended state observer
摘要
Abstract
During the oversized cargo transportation process,the crane system may act like a double pendulum system,which would also be easily affected by external disturbances and result in greater control difficulty.To deal with this control problem of the double pendulum crane system,a hierarchical sliding mode control method based on an extended state observer is proposed in this work to attain fast and smooth payload transportation while effectively suppressing the swing of the payload and the hook.Particularly,the state variables and disturbance terms are estimated by the designed extended state observer,and afterward,a hierarchical sliding mode controller is proposed by using the state error signals and the estimated signals of the observer.Moreover,the disturbance compensation term is contained in the designed sliding surface to further enhance the anti-disturbance ability of the system.In comparison to current methods by simula-tion tests,the proposed method can bring suitable control performance regarding working efficiency and robustness.关键词
吊车系统/双摆效应/欠驱动系统/分层滑模控制/扩展观测器/摆动抑制/机电系统/先进控制Key words
crane systems/double pendulum performance/underactuated systems/hierarchical sliding mode control/ex-tended state observer/swing suppression/mechatronics systems/advanced control分类
计算机与自动化引用本文复制引用
姚鑫亚,陈鹤..基于扩张状态观测器的双摆吊车分层滑模控制[J].智能系统学报,2024,19(2):344-352,9.基金项目
国家自然科学基金项目(62373134,61903120,U20A20198) （62373134,61903120,U20A20198）
河北省自然科学基金项目(F2020202006) （F2020202006）
辽宁省重点科技创新基地联合开放基金暨机器人学国家重点实验室联合开放基金项目(2022-KF-22-09). （2022-KF-22-09）
