Fuzzy Sliding Mode Synchronous Control of Double-Container for Overhead Crane

摘要

The double-container overhead crane can grab two forty-inch containers at one time, greatly improving the efficiency of loading and unloading. However, the overhead crane system is unstable due to perturbation of system parameters and other uncontrollable factors. So, it is difficult to achieve synchronous control of twin-lift container. In order to deal with this problem, this paper proposes a synchronous control method for double containers of bridge crane, which based on the combination of mean deviation coupling synchronization control and fuzzy sliding mode control. The Takagi-Sugeno fuzzy control is used to estimate the uncertainty of the system effectively, which suppresses the chattering problem of the sliding mode control in the approaching stage. Finally, the stability of the controller proposed in this paper is proved by Lyapunov's theorem, and the effectiveness of the controller is demonstrated by using Matlab.