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以起重机升降系统位置控制为目标,针对起重机负载位置在有干扰条件下控制不精确的问题,采用对数型快速终端滑模来设计控制律。基于对数型快速终端滑模方法的良好特性,同时采用一种新的滑模面设计方法,将此对数型快速终端滑模方法引入到高阶单输入单输出非线性系统,并设计了一种新的滑模变结构控制律,使系统状态变量能以较快的速度在有限时间内收敛至平衡点。将此方法应用在起重机升降系统的位置控制中,通过M atlab仿真实验表明,该算法不但能减小控制系统的稳态误差,还能减弱抖振,提高了起重机升降系统位置控制的精度。
Aimed at the position control of crane lifting system, aiming at the problem of inaccurate control of crane load position in the presence of interference, a logarithmic fast terminal sliding mode was used to design the control law. Based on the good characteristics of the logarithmic fast terminal sliding mode method, a new sliding surface design method is introduced to introduce the logarithmic fast terminal sliding mode method into the high order single input and single output nonlinear system. A new sliding mode variable structure control law makes the system state variables converge to the equilibrium point in a finite time at a faster speed. The method is applied to the position control of crane lifting system. Simulation experiments show that this algorithm can not only reduce the steady state error of the control system, but also reduce the chattering and improve the accuracy of the position control of the crane lifting system.