Research on 3D anti-swing dynamics theoretical model and control strategy of overhead cranes
In this dissertation,a super-twising sliding controller based on hierarchical sliding mode control is developed for the model of 3D overhead cranes in case of linearizing the dynamical equations hardly and high-frequency oscillation of the sliding mode controller,in order to achieve accturate positioning and anti swing angle effectively during the load mass and rope length constantly changing.The stability and accessibility of this controller are proved by constructing Lyapunov functions,buliding physical model to validate research,the consistency of the simulation and experimental results proves that this controller is effective in anti swing.The above results show that this controller can eliminate oscillation,keeping payload swings small and robustness of the system,it has important theoretical significance and application potenial.
NETL
NSTL
万方数据
