摘要
针对传统的桥式吊车等效滑模控制存在的抖振问题,设计了一种新型的模糊滑模控制算法,能够有效降低切换增益,从而大大降低系统的抖振。具体而言,通过将系统状态分为两组来引入中间变量,然后根据中间变量定义滑动面,利用Lyapunonv直接法推导出系统的控制率,使滑模面渐进稳定,然后针对滑模可达性与控制器增益之间的关系,设计了模糊接口系统来调节控制器增益。在Matlab环境下,与等效滑模控制进行仿真对比,结果表明了该方法的有效性。
Aiming at the chattering problem existing in the traditional equivalent sliding mode control of bridge crane,a new fuzzy sliding mode control algorithm was designed,which can effectively reduce the switching gain and greatly reduce the chattering of the system.Specifically,first of all,intermediate variables were introduced by dividing the system state into two groups,then according to the definition of intermediate variable sliding surface,the system was deduced by using the Lyapunonv directly control,the sliding mode surface gradually stability,and in view of the accessibility of the sliding mode and the relationship between the controller gain,the fuzzy interface system was designed to adjust the controller gain.In the Matlab environment,the simulation comparison with the equivalent sliding mode control shows that the method is effective.
作者
罗文辉
张宪文
徐进钊
邱光繁
杨达明
张建民
王天雷
Luo Wenhui;Zhang Xianwen;Xu Jinzhao;Qiu Guangfan;Yang Daming;Zhang Jianming;Wang Tianlei(Intelligent Manufacturing Division,Wuyi University,Jiangmen,Guangdong 529000,China;Jiangmen Modrol Electric Co.,Ltd.,Jiangmen,Guangdong 529000,China;Enping Aoda Electronic Technology Co.,Ltd.,Jiangmen,Guangdong 529030,China)
出处
《机电工程技术》
2020年第10期127-129,164,共4页
Mechanical & Electrical Engineering Technology
基金
2018广东省教学质量工程项目(编号:GDJX2018011)
2019年江门市科技计划项目(编号:2019JC01029)
2019年横向课题(编号:HX19130)
2019年国家级大学生创新创业项目(编号:201911349005)
2020年五邑大学恩平产学研联盟项目(编号:HX135)。
关键词
等效模糊控制
模糊控制器
切换增益
滑模面
equivalent sliding mode control
fuzzy controller
switching gain
sliding mode surface
