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What is the difference between European crane and domestic crane? A control method of modelless terminal sliding mode bridge crane

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A control method of modelless terminal sliding mode bridge crane

Wang Tianlei1,2 zheng Zhaoming1 Li Junhui1 Zhou Jing1 Liu Renju1 GU Shaowei1

1. Faculty of Intelligent Manufacturing, Wuyi University 2. School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University

Abstract: A model-free adaptive terminal sliding mode control method was proposed to solve the problem of load mass and rope length of bridge crane in different transportation tasks. By linearizing the partial feedback of the system model and using the adaptive strategy to predict the physical parameters of the system, a modelless adaptive controller based on the non-singular terminal sliding mode surface was proposed, and the stability of the closed-loop system was proved by Lyapunov theorem. The proposed control method is compared with the LQR and EC control methods by simulation experiments, and it is verified that the proposed control method has better control performance and stronger robustness to the perturbation of system physical parameters. The controller can not only realize the precise positioning of the trolley and the fast fluctuation of the load, but also realize the smooth start of the trolley.

A control method of modelless terminal sliding mode bridge craneThe article directories

1. Problem Raising

2 main Results

2.1 Motion trajectory equation

2.2 Controller Design

2.3 Stability Analysis

3. Simulation experiment and analysis

4 conclusion

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