Adaptive Sliding Mode Synchronous Control of Locked Double-Container of Overhead Crane

Abstract

Abstract:

To solve the problems of internal parameter perturbation, external disturbances and coupling interaction in synchronous control for double-container in overhead crane system, this paper proposed an adaptive sliding mode synchronous control method. First, based on the study of the operational characteristics of the double-container in locked work mode a coupling dynamic model of potential energy load for the double-container was established. Secondly, the time-varying sliding mode control method enhanced the robustness of sliding mode control in the reaching phase. Then, adaptive disturbance compensator restrained the uncertain disturbance which existed in synchronous control of the double-container, and reduces the gain value of switching function at the same time. Furthermore, instead of sign function, the Sigmoid function was introduced into the design of the switching function, in order to eliminate the chattering phenomenon. Lyapunov stability theory verified the global stability of the method. Numerical simulation result and the physical experimental result show the effectiveness of the approach.

Key words: synchronous control of doublecontainer, locked work mode, timevarying sliding mode control, adaptive disturbance compensation, crosscoupling

CLC Number:

TP 273

XU Pan，XU Weimin，TAN Yingying，LI Zhongfeng. Adaptive Sliding Mode Synchronous Control of Locked Double-Container of Overhead Crane[J]. Journal of Shanghai Jiaotong University, 2013, 47(12): 1940-1947.

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