基于滑模预测的三维起重机防摆控制方法研究

摘要

To make crane safe, efficient operation, and in order to reduce the additional equipment, to achieve emission reduction targets, the use of electronic anti-sway control of a wide range of domestic and foreign scholars have become a subject of concern.This paper according to a bridge crane 3 d model, with the method of predicting the sliding mode to design the controller, use the predictive control roll optimizing and feedback correction methods to optimize the process to track the sliding mode, in order to weaken the chattering and enhance the robustness.The simulation results show that the control system can be better on the big crane, trolley and the load swing angle control, and efficient elimination of cranes swing to achieve the intended purpose of the design.%为了使起重机安全、高效运行，同时为了减少附加设备，达到节能减排的目标，运用电子防摆控制方法的研究成了国内外学者广泛关注的课题。本文主要针对桥式起重机三维模型，利用滑模预测的方法来设计控制器，使用预测控制中的滚动优化和反馈校正方法来优化滑模轨迹的到达过程，以最终达到削弱抖振和增强鲁棒性的目的。仿真结果表明，该控制方法可以较好地对起重机系统的大、小车及负载的摆角进行控制，高效的消除起重机的摆动，达到了设计的预期目的。