阅读说明：本技术 一种基于滑模面的桥吊防摆方法、装置、设备及存储介质 (A kind of anti-sway method, apparatus of bridge crane based on sliding-mode surface, equipment and storage medium ) 是由 王天雷 倪伟钿 邱炯智 罗文辉 张智弘 张京玲 岳洪伟 翟懿奎 张宪文 于 2019-08-30 设计创作，主要内容包括：本发明公开了一种基于滑模面的桥吊防摆方法、装置、设备及存储介质,基于反演控制算法逐层设计台车位置子系统控制器和负载摆角子系统控制器后,将台车位置子系统控制器和负载摆角子系统控制器进行结合,构建一个位置摆角全局滑模面,在滑模面设计中引入时变函数,构建位置摆角控制器；基于反演滑模控制理论对绳长的状态空间函数结合李雅普诺夫函数对绳长控制器进行逐层设计,实现吊绳子系统的渐进稳定。本发明实施例方法不仅可以处理系统非匹配不确定性问题,最大限度消除传统滑模控制算法中存在的抖振现象,而且可以提高吊车系统防摆控制的鲁棒性,同时使系统具有抗干扰能力,进一步提高桥式吊车系统的稳定性和控制性能。(The invention discloses a kind of anti-sway method, apparatus of bridge crane based on sliding-mode surface, equipment and storage mediums, after successively designing trolley location subsystem controller and load pivot angle subsystem controller based on back stepping control algorithm, trolley location subsystem controller and load pivot angle subsystem controller are combined, construct position pivot angle global sliding mode face, time-varying function is introduced in sliding-mode surface design, constructs position swash angle controller；Rope length controller is successively designed based on state space function combination liapunov function of the back-stepping sliding mode control theory to rope length, realizes the asymptotically stability of lifting rope subsystem.Present invention method not only can handle system mismatched uncertainties problem, chattering phenomenon present in traditional sliding mode control algorithm is eliminated to greatest extent, and the robustness of crane system anti-swing control can be improved, make system that there is anti-interference ability simultaneously, further increases the stability and control performance of bridge type crane system.)

1. a kind of anti-pendular regime of bridge crane based on sliding-mode surface, it is characterised in that the following steps are included:

The position pivot angle system mathematic model for constructing overhead crane constructs trolley location subsystem based on back-stepping sliding mode control theory Controller and load pivot angle subsystem controller, by the trolley location subsystem controller and the load pivot angle subsystem control Device processed combines building position pivot angle global sliding mode face, and time-varying function is introduced in the position pivot angle global sliding mode face, constructs position Set pivot angle sliding mode controller；

The rope length system mathematic model for constructing overhead crane constructs rope length sliding mode controller based on back-stepping sliding mode control theory；

Obtain trolley location parameter, load pivot angle parameter, time parameter and rope length parameter；

The trolley location parameter, load pivot angle parameter, time parameter are inputted in the position pivot angle sliding mode controller, by institute Rope length parameter is stated to be input in rope length sliding mode controller；

The position pivot angle sliding mode controller and rope length sliding mode controller export trolley horizontal drag force and respectively along wire saws power.

2. the anti-pendular regime of a kind of bridge crane based on sliding-mode surface according to claim 1, it is characterised in that: be based on inverting sliding formwork Control theory constructs trolley location subsystem controller

Construct the first layer liapunov function of trolley location subsystem；

First derivation is carried out to the first layer liapunov function of trolley location subsystem；

If the first derivative of the first layer liapunov function of the trolley location subsystem is not more than 0, trolley position is acquired Set subsystem controller；

If the first derivative of the first layer liapunov function of the trolley location subsystem is greater than 0, trolley position is constructed The second layer trolley location subsystem liapunov function of subsystem；

First derivation is carried out to the second layer trolley location subsystem liapunov function of trolley location subsystem；

It enables the first derivative of the second layer trolley location subsystem liapunov function of trolley location subsystem no more than zero, asks Obtain trolley location subsystem controller.

3. the anti-pendular regime of a kind of bridge crane based on sliding-mode surface according to claim 1, it is characterised in that: described to be based on inverting Sliding mode control theory building loads pivot angle subsystem controller

The first layer liapunov function of building load pivot angle subsystem；

First derivation is carried out to the first layer liapunov function of load pivot angle subsystem；

If the first derivative of the first layer liapunov function of the load pivot angle subsystem is not more than 0, load pendulum is acquired Silver coin system controller；

If the first derivative of the first layer liapunov function of the load pivot angle subsystem is greater than 0, load pivot angle is constructed The second layer liapunov function of subsystem；

First derivation is carried out to the second layer liapunov function of load pivot angle subsystem；

It enables the first derivative of the second layer liapunov function of load pivot angle subsystem be not more than zero, acquires load pivot angle subsystem System controller.

4. the anti-pendular regime of a kind of bridge crane based on sliding-mode surface according to claim 1, it is characterised in that: described by described Truck position subsystem controller and the load pivot angle subsystem controller combine building position pivot angle global sliding mode face, described Time-varying function is introduced in the pivot angle global sliding mode face of position, building position pivot angle sliding mode controller includes:

Construct position pivot angle global system sliding formwork control function；

Construct position pivot angle global system Time-dependent sliding surface；

Construct position pivot angle global system liapunov function；

First derivation is carried out to position pivot angle global system liapunov function；

Building basic index Reaching Law acquires the coupled switch control law of position pivot angle global system sliding formwork control；

Building S type saturation function is that position pivot angle global system sliding formwork control function acquires position pivot angle sliding mode controller.

5. the anti-pendular regime of a kind of bridge crane based on sliding-mode surface according to claim 1, it is characterised in that: described to be based on inverting Sliding mode control theory constructs rope length sliding mode controller

Construct the first layer liapunov function of rope length subsystem；

First derivation is carried out to the first layer liapunov function of rope length subsystem；

If the first derivative of the first layer liapunov function of the rope length subsystem is not more than 0, rope length subsystem is acquired Controller；

If the first derivative of the first layer liapunov function of the rope length subsystem is greater than 0,

Then construct the second layer liapunov function of rope length subsystem；

First derivation is carried out to the second layer liapunov function of rope length subsystem；

It enables the first derivative of the second layer liapunov function of rope length subsystem no more than zero, acquires rope length subsystem controls Device.

6. a kind of bridge crane antiswing device based on sliding-mode surface, it is characterised in that: include:

Position pivot angle sliding mode controller construction unit, for constructing the position pivot angle system mathematic model of overhead crane, based on anti- Sliding mode control theory building trolley location subsystem controller and load pivot angle subsystem controller are drilled, by trolley position System controller and the load pivot angle subsystem controller combine building position pivot angle global sliding mode face, in the position pivot angle Time-varying function is introduced in global sliding mode face, constructs position pivot angle sliding mode controller；

Rope length sliding mode controller construction unit is based on the control of inverting sliding formwork for constructing the rope length system mathematic model of overhead crane The theoretical building rope length sliding mode controller of system；

Acquiring unit, for obtaining trolley location parameter, load pivot angle parameter, time parameter and rope length parameter；

Input unit, for the trolley location parameter, load pivot angle parameter, time parameter to be inputted the position pivot angle sliding formwork In controller, the rope length parameter is input in rope length sliding mode controller；

Output unit exports trolley horizontal drag force for the position pivot angle sliding mode controller and rope length sliding mode controller respectively With along wire saws power.

7. a kind of anti-sway equipment of bridge crane based on sliding-mode surface, it is characterised in that: including at least one control processor and for The memory of at least one control processor communication connection；The memory is stored with can be by least one described control The instruction that device executes is managed, described instruction is executed by least one described control processor, so that at least one described control is handled Device is able to carry out the anti-pendular regime of the bridge crane based on sliding-mode surface as described in any one in claim 1-5.

8. a kind of computer readable storage medium, it is characterised in that: the computer-readable recording medium storage has computer can It executes instruction, the computer executable instructions are as described in any one in claim 1-5 based on cunning for executing computer The anti-pendular regime of the bridge crane of die face.

Technical field

The present invention relates to bridge crane technical field, the anti-sway method, apparatus of especially a kind of bridge crane based on sliding-mode surface, Equipment and storage medium.

Background technique

Overhead crane is widely used in harbour, warehouse, heavy industry vehicle as a kind of large cargo loading mechanization device Between, the assembly transportational process in the places such as construction site.The main target of bridge type crane system control is to realize that accurate crane is fixed Position and the pivot angle for eliminating load as much as possible, so as in the shortest time by cargo transport to designated position without generating swing. Sliding formwork control has good control performance to nonlinear system, is widely applied in the system control of overhead crane, still The overhead crane sliding formwork control of current main-stream has the following problems:

Traditional general sliding mode control algorithm cannot well processing system mismatched uncertainties the problem of, thus can go out Existing chattering phenomenon, this problem influence whether the service life of motor in turn.In addition, traditional sliding mode control algorithm is significantly When changing system parameter, the anti-swing control effect of crane can become poor, and robustness is poor, when system is by external strong interference When, control algolithm can not be responded timely and accurately, further weaken the anti-sway effect of bridge crane.

Summary of the invention

To solve the above problems, the purpose of the present invention is to provide a kind of anti-sway method, apparatus of bridge crane based on sliding-mode surface, Equipment and storage medium, the advantages of using back-stepping sliding mode control technology energy processing system mismatched uncertainties, while when introducing Variable sliding-surface makes system have stronger robustness, further increases the stability and control performance of bridge type crane system.

Technical solution used by the present invention solves the problems, such as it is:

In a first aspect, the present invention provides a kind of anti-pendular regimes of the bridge crane based on sliding-mode surface, comprising: construct overhead crane Position pivot angle system mathematic model, based on back-stepping sliding mode control theory building trolley location subsystem controller and load pivot angle The trolley location subsystem controller and the load pivot angle subsystem controller are combined building position pendulum by system controller Angle global sliding mode face introduces time-varying function in the position pivot angle global sliding mode face, constructs position pivot angle sliding mode controller；

The rope length system mathematic model for constructing overhead crane constructs rope length sliding formwork control based on back-stepping sliding mode control theory Device；

Obtain trolley location parameter, load pivot angle parameter, time parameter and rope length parameter；

The trolley location parameter, load pivot angle parameter, time parameter are inputted in the position pivot angle sliding mode controller, The rope length parameter is input in rope length sliding mode controller；

The position pivot angle sliding mode controller and rope length sliding mode controller export trolley horizontal drag force respectively and lead along rope Gravitation.

Further, include: based on back-stepping sliding mode control theory building trolley location subsystem controller

Construct the first layer liapunov function of trolley location subsystem；

First derivation is carried out to the first layer liapunov function of trolley location subsystem；

If the first derivative of the first layer liapunov function of the trolley location subsystem is not more than 0, platform is acquired Truck position subsystem controller；

If the first derivative of the first layer liapunov function of the trolley location subsystem is greater than 0, trolley is constructed The second layer trolley location subsystem liapunov function of location subsystem；

First derivation is carried out to the second layer trolley location subsystem liapunov function of trolley location subsystem；

The first derivative of the second layer trolley location subsystem liapunov function of trolley location subsystem is enabled to be not more than Zero, acquire trolley location subsystem controller.

Further, described to include: based on back-stepping sliding mode control theory building load pivot angle subsystem controller

The first layer liapunov function of building load pivot angle subsystem；

First derivation is carried out to the first layer liapunov function of load pivot angle subsystem；

If the first derivative of the first layer liapunov function of the load pivot angle subsystem is not more than 0, acquire negative Carry pivot angle subsystem controller；

If the first derivative of the first layer liapunov function of the load pivot angle subsystem is greater than 0, load is constructed The second layer liapunov function of pivot angle subsystem；

First derivation is carried out to the second layer liapunov function of load pivot angle subsystem；

It enables the first derivative of the second layer liapunov function of load pivot angle subsystem be not more than zero, acquires load pivot angle Subsystem controller.

Further, described by the trolley location subsystem controller and the load pivot angle subsystem controller combination structure Position pivot angle global sliding mode face is built, time-varying function is introduced in the position pivot angle global sliding mode face, constructs position pivot angle sliding formwork Controller includes:

Construct position pivot angle global system sliding formwork control function；

Construct position pivot angle global system Time-dependent sliding surface；

Construct position pivot angle global system liapunov function；

First derivation is carried out to position pivot angle global system liapunov function；

Building basic index Reaching Law acquires the coupled switch control law of position pivot angle global system sliding formwork control；

Building S type saturation function is that position pivot angle global system sliding formwork control function acquires position pivot angle sliding mode controller.

Further, the back-stepping sliding mode control theory building rope length sliding mode controller that is based on includes: building rope length subsystem First layer liapunov function；

First derivation is carried out to the first layer liapunov function of rope length subsystem；

If the first derivative of the first layer liapunov function of the rope length subsystem is not more than 0, rope length is acquired System controller；

If the first derivative of the first layer liapunov function of the rope length subsystem is greater than 0, rope length subsystem is constructed The second layer liapunov function of system；

First derivation is carried out to the second layer liapunov function of rope length subsystem；

It enables the first derivative of the second layer liapunov function of rope length subsystem no more than zero, acquires rope length subsystem control Device processed.

Second aspect, the present invention provides a kind of bridge crane antiswing device based on sliding-mode surface, comprising: position pivot angle sliding formwork control Device construction unit processed is constructed for constructing the position pivot angle system mathematic model of overhead crane based on back-stepping sliding mode control theory Trolley location subsystem controller and load pivot angle subsystem controller, by the trolley location subsystem controller and described negative It carries pivot angle subsystem controller and combines building position pivot angle global sliding mode face, when being introduced in the position pivot angle global sliding mode face Varying function constructs position pivot angle sliding mode controller；

Rope length sliding mode controller construction unit is sliding based on inverting for constructing the rope length system mathematic model of overhead crane Mould control theory constructs rope length sliding mode controller；

Acquiring unit, for obtaining trolley location parameter, load pivot angle parameter, time parameter and rope length parameter；

Input unit, for the trolley location parameter, load pivot angle parameter, time parameter to be inputted the position pivot angle In sliding mode controller, the rope length parameter is input in rope length sliding mode controller；

Output unit exports trolley level for the position pivot angle sliding mode controller and rope length sliding mode controller respectively and leads Gravitation and along wire saws power.

The third aspect, the present invention provides a kind of anti-sway equipment of the bridge crane based on sliding-mode surface,

Memory including at least one control processor and for being communicated to connect at least one control processor；Storage Device is stored with the instruction that can be executed by least one control processor, and instruction is executed by least one control processor, so that extremely A few control processor is able to carry out the anti-pendular regime of bridge crane as described above based on sliding-mode surface.

Fourth aspect, the present invention provides a kind of computer readable storage medium, computer-readable recording medium storage has Computer executable instructions, computer executable instructions are anti-for making computer execute the bridge crane based on sliding-mode surface as described above Pendular regime.

5th aspect, the present invention also provides a kind of computer program product, the computer program product includes storage Computer program on computer readable storage medium, the computer program include program instruction, when described program instructs When being computer-executed, computer is made to execute the anti-pendular regime of bridge crane as described above based on sliding-mode surface.

The one or more technical solutions provided in the embodiment of the present invention, at least have the following beneficial effects: based on inverting After control algolithm successively designs trolley location subsystem controller and load pivot angle subsystem controller, by trolley location subsystem Controller and load pivot angle subsystem controller are combined, and construct position pivot angle global sliding mode face, are designed in sliding-mode surface Middle introducing time-varying function greatly reduces the time that state variable reaches sliding-mode surface；Based on back-stepping sliding mode control theory to rope length State space function combination liapunov function successively designs rope length controller, realizes the progressive steady of lifting rope subsystem It is fixed.Present invention method not only can handle system mismatched uncertainties problem, eliminate traditional sliding formwork control to greatest extent Chattering phenomenon present in algorithm processed, and the robustness of crane system anti-swing control can be improved, while it is anti-to have system Interference performance further increases the stability and control performance of bridge type crane system.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples.

Fig. 1 is the method flow diagram of the embodiment of the present invention；

Fig. 2 is the method based on back-stepping sliding mode control theory building trolley location subsystem controller of the embodiment of the present invention Flow chart；

Fig. 3 is the method for constructing load pivot angle subsystem controller based on back-stepping sliding mode control theory of the embodiment of the present invention Flow chart；

Fig. 4 is the embodiment of the present invention by the trolley location subsystem controller and the load pivot angle subsystem controls Device combines building position pivot angle global sliding mode face, and time-varying function is introduced in the position pivot angle global sliding mode face, constructs position The method flow diagram of pivot angle sliding mode controller；

Fig. 5 is the method flow based on back-stepping sliding mode control theory building rope length sliding mode controller of the embodiment of the present invention Figure；

Fig. 6 is the emulation experiment effect picture of the embodiment of the present invention；

Fig. 7 is control method of the embodiment of the present invention and time-varying sliding-mode control, back-stepping sliding mode control method in emulation ring Emulation experiment effect picture in border 1；

Fig. 8 is control method of the embodiment of the present invention and time-varying sliding-mode control, back-stepping sliding mode control method in emulation ring Emulation experiment effect picture in border 2；

Fig. 9 is control method of the embodiment of the present invention and time-varying sliding-mode control, back-stepping sliding mode control method in emulation ring Emulation experiment effect picture in border 3；

Figure 10 is control method of the embodiment of the present invention and time-varying sliding-mode control, back-stepping sliding mode control method in emulation ring Emulation experiment effect picture in border 4；

Figure 11 is control method of the embodiment of the present invention and time-varying sliding-mode control, back-stepping sliding mode control method in emulation ring Emulation experiment effect picture in border 5；

Figure 12 is unit structure schematic diagram in the device of the embodiment of the present invention；

Figure 13 is the connection schematic diagram in the equipment of the embodiment of the present invention；

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not For limiting the present invention.

It should be noted that each feature in the embodiment of the present invention can be combined with each other, in this hair if do not conflicted Within bright protection scope.In addition, though having carried out functional module division in schematic device, shows patrol in flow charts Sequence is collected, but in some cases, it can be shown in the sequence execution in the module division being different from device or flow chart The step of out or describing.

Referring to Fig.1, An embodiment provides a kind of anti-pendular regimes of the bridge crane based on sliding-mode surface, comprising:

Step S11 constructs the position pivot angle system mathematic model of overhead crane, constructs platform based on back-stepping sliding mode control theory Truck position subsystem controller and load pivot angle subsystem controller, by the trolley location subsystem controller and the load Pivot angle subsystem controller combines building position pivot angle global sliding mode face, introduces time-varying in the position pivot angle global sliding mode face Function constructs position pivot angle sliding mode controller；

Step S12 constructs the rope length system mathematic model of overhead crane, sliding based on back-stepping sliding mode control theory building rope length Mould controller；

Step S13 obtains trolley location parameter, load pivot angle parameter, time parameter and rope length parameter；

The trolley location parameter, load pivot angle parameter, time parameter are inputted the position pivot angle sliding formwork by step S14 In controller, the rope length parameter is input in rope length sliding mode controller；

Step S15, the position pivot angle sliding mode controller and rope length sliding mode controller export trolley horizontal drag force respectively With along wire saws power.

Originally complicated overhead crane kinetic model is converted into general state spatial function form by the embodiment of the present invention, After successively designing trolley location subsystem controller and load pivot angle subsystem controller with back stepping control algorithm, by trolley position It sets subsystem controller and load pivot angle subsystem controller is combined, position pivot angle global sliding mode face is constructed, in cunning Time-varying function is introduced in die face design, sliding-mode surface can change with the change of time, make the initial position of sliding-mode surface as far as possible Ground proximity state variable greatly reduces the time that state variable reaches sliding-mode surface；Rope length subsystem controller is constructed, inverting is utilized Sliding mode control theory successively designs the state space function combination liapunov function of rope length, realizes lifting rope subsystem Asymptotically stability.

Bridge type crane system is under-actuated systems, and trolley position and load two quantity of states of pivot angle are driven by the same motor It moves, that is, a drive volume causes two quantity of states to change simultaneously, therefore in the design of position pivot angle subsystem controller It needs the anti-swing controller of trolley position and load pivot angle while taking into account, construct trolley location subsystem controller respectively It is introduced with load pivot angle subsystem controller in conjunction with trolley location subsystem controller and load pivot angle subsystem controller Time-varying function constructs out position pivot angle global system controller.

Referring to Fig. 2, wherein constructing trolley location subsystem controller based on back-stepping sliding mode control theory further includes following step It is rapid:

Step S21 constructs the first layer liapunov function of trolley location subsystem；

Step S22 carries out first derivation to the first layer liapunov function of trolley location subsystem；

Step S23, if the first derivative of the first layer liapunov function of the trolley location subsystem is not more than 0, Then acquire trolley location subsystem controller；

Step S24, if the first derivative of the first layer liapunov function of the trolley location subsystem is greater than 0, Construct the second layer trolley location subsystem liapunov function of trolley location subsystem；

Step S25 carries out single order to the second layer trolley location subsystem liapunov function of trolley location subsystem Derivation；

Step S26 enables the single order of the second layer trolley location subsystem liapunov function of trolley location subsystem lead Number is not more than zero, acquires trolley location subsystem controller.

It is theoretical based on back-stepping sliding mode control in the embodiment of the present invention, and combine liapunov function to carry out stability and set Meter constructs trolley location subsystem controller, only includes trolley location parameter in first layer liapunov function, to its derivation Trolley movement speed parameter is obtained, this is inadequate for trolley Design of Position Controller, because not including the fortune of trolley Dynamic acceleration variable, not can guarantee trolley positioner asymptotically stability, so needing to construct second to trolley location subsystem Layer liapunov function, makes trolley location subsystem tend towards stability, enhances the robustness and control performance of system.

Referring to Fig. 3, wherein constructing load pivot angle subsystem controller based on back-stepping sliding mode control theory includes following step It is rapid:

Step S31, the first layer liapunov function of building load pivot angle subsystem；

Step S32 carries out first derivation to the first layer liapunov function of load pivot angle subsystem；

Step S33, if the first derivative of the first layer liapunov function of the load pivot angle subsystem is not more than 0, Then acquire load pivot angle subsystem controller；

Step S34, if the first derivative of the first layer liapunov function of the load pivot angle subsystem is greater than 0, The second layer liapunov function of building load pivot angle subsystem；

Step S35 carries out first derivation to the second layer liapunov function of load pivot angle subsystem；

Step S36 enables the first derivative of the second layer liapunov function of load pivot angle subsystem be not more than zero, acquires Load pivot angle subsystem controls.

It is theoretical based on back-stepping sliding mode control in the embodiment of the present invention, and combine liapunov function to carry out stability and set Meter, building load pivot angle subsystem controller, only include load pivot angle angle parameter in first layer liapunov function, to it Derivation obtains load pivot angle movement velocity parameter, this is inadequate for load swash angle controller design, because not including The acceleration of motion variable for loading pivot angle not can guarantee load swash angle controller asymptotically stability, so needing to load pivot angle System constructs second layer liapunov function, so that load pivot angle subsystem is tended towards stability, enhances the robustness and control of system Performance.

Referring to Fig. 4, wherein combine the trolley location subsystem controller and the load pivot angle subsystem controller Position pivot angle global sliding mode face is constructed, time-varying function is introduced in the position pivot angle global sliding mode face, building position pivot angle is sliding Mould controller the following steps are included:

Step S41 constructs position pivot angle global system sliding formwork control function；

Step S42 constructs position pivot angle global system Time-dependent sliding surface；

Step S43 constructs position pivot angle global system liapunov function；

Step S44 carries out first derivation to position pivot angle global system liapunov function；

Step S45, building basic index Reaching Law acquire the coupled switch control of position pivot angle global system sliding formwork control Rule；

Step S46, building S type saturation function are that position pivot angle global system sliding formwork control function acquires position pivot angle sliding formwork Controller.

Back-stepping sliding mode control design method first to the system partitioning of the not linear state of complicated drive volume missing at Then the not more than subsystem of the system number of plies is mutually tied liapunov function and the intermediate control amount without actual physics meaning Conjunction is introduced into subsystem design, is introduced Sliding mode variable structure control in the virtual controlling amount of the last layer system, is utilized sliding formwork control The not change property of system guarantees the progressive steady of last subsystem, is to be first divided into trolley location subsystem in embodiments of the present invention Controller is constructed respectively with load pivot angle subsystem, Time-dependent sliding surface is introduced in the building of the last layer system, to construct Out position pivot angle total-sliding-mode control device.

Referring to Fig. 5, wherein based on back-stepping sliding mode control theory building rope length sliding mode controller the following steps are included:

Step S51 constructs the first layer liapunov function of rope length subsystem；

Step S52 carries out first derivation to the first layer liapunov function of rope length subsystem；

Step S53 is asked if the first derivative of the first layer liapunov function of the rope length subsystem is not more than 0 Obtain rope length subsystem controller；

Step S54 is constructed if the first derivative of the first layer liapunov function of the rope length subsystem is greater than 0 The second layer liapunov function of rope length subsystem；

Step S55 carries out first derivation to the second layer liapunov function of rope length subsystem；

Step S56 enables the first derivative of the second layer liapunov function of rope length subsystem no more than zero, acquires rope length Subsystem controller.

It is theoretical based on back-stepping sliding mode control in the embodiment of the present invention, and combine liapunov function to carry out stability and set Meter constructs rope length subsystem controller, only includes rope length length parameter in first layer liapunov function, obtain to its derivation Rope length movement velocity parameter, this is inadequate for rope length controller design, because not including the acceleration of motion of rope length Variable not can guarantee rope length controller asymptotically stability, so need to construct second layer liapunov function to rope length subsystem, So that rope length subsystem is tended towards stability, enhances the robustness and control performance of system.

In a preferred embodiment, trolley location subsystem controller packet is constructed based on back-stepping sliding mode control theory Include: building trolley location subsystem mathematical model, the mathematical modeling formula of overhead crane consider that trolley position freedom is rewritten into Following formula: Wherein, x₁=x,X is the mobile position of trolley,For trolley shifting Dynamic speed, u_xFor trolley location subsystem controller, the mathematical modeling formula based on overhead crane is derived fromb₁(x)=1/ [M+msin²(x₃)], wherein f₁For The state variable of trolley location subsystem, b₁For the input variable of trolley location subsystem, l is the rope length of lifting rope, and M is crane matter Amount, m is load quality, and g is acceleration of gravity, x₃=θ,θ is the pivot angle of load,For the angular speed for loading pivot angle； Define trolley position tracking error e₁=x₁-x_1d, wherein x_1dFor trolley target position；To e₁=x₁-x_1dIt differentiates to obtainThe first layer liapunov function for constructing trolley location subsystem is V₁=e₁ ²/2；To V₁= e₁ ²/ 2 progress first derivations obtainIt enablesWherein α₁For virtual intermediate variable, in back-stepping sliding mode control It is constructed in algorithm and stablizes item α₁=k₁e₁, wherein k₁For the error coefficient of stability of trolley location subsystem；By α₁=k₁e₁It substitutes intoIt is obtained in formulaWork as e₂When=0,By Li Yapunuo Husband's function judgement of stability system tends towards stability, but under normal circumstances since during the motion, quantity of state is unstable at system Fixed, only arrival target position can just settle out, therefore work as e₂≠ 0, it needs further to design trolley location subsystem, Defining second layer liapunov function isWherein, S₁=c₁e₁+e₂, S₁It is sliding for trolley location subsystem Die face, c₁For the error coefficient of trolley location subsystem；To the second layer trolley location subsystem Li Ya of trolley location subsystem It includes: pair that Pu Nuofu function, which carries out first derivation,First derivation is carried out to obtainIt enablesConstruct trolley location subsystem controller u_xForWherein, h_xFor trolley location subsystem sliding-mode surface coefficient, β_x For trolley location subsystem handoff gain.

In embodiments of the present invention, constructing load pivot angle subsystem controller based on back-stepping sliding mode control theory includes: bridge The mathematical modeling formula load pivot angle freedom degree of formula crane is rewritten into following formula:Its In, x₃=θ,θ is the swing angle of load,For the swing angular velocity of load, u_θFor trolley location subsystem control Device processed, the mathematical modeling formula based on overhead crane are derived fromb₂(x)=[- cos (x₃)]/ {[M+msin²(x₃)] l, wherein f₂For the state variable of pivot angle subsystem, b₂For the input variable of pivot angle subsystem；Definition is negative Carry pivot angle tracking error e_θ1=x₃-θ_d, θ_dFor targeted loads pivot angle size, perfect condition should be 0；To e_θ1=x₃-θ_dIt differentiates It arrivesThe first layer liapunov function of building load pivot angle subsystem is V_θ1=e_θ1 ²/2；To V_θ1 =e_θ1 ²/ 2 progress first derivations obtainIt enablesIt is constructed in back-stepping sliding mode control algorithm and stablizes item α_θ=k_θ1e_θ1, wherein k_θFor the error coefficient of stability for loading pivot angle subsystem；By α_θ=k_θ1e_θ1It substitutes intoIn formula It arrivesWork as e_θ2When=0,By liapunov function stability Judgement system tends towards stability, but under normal circumstances but under normal circumstances since during the motion, quantity of state is unstable at system Fixed, only arrival target position can just settle out, therefore work as e_θ2≠ 0, it needs further to design load pivot angle subsystem, The second layer liapunov function of definition load pivot angle subsystem is V_θ2=V_θ1+S_θ ²/ 2, wherein S_θ=c_θe_θ1+e_θ2, S_θFor Load pivot angle subsystem sliding-mode surface, c_θFor the error coefficient for loading pivot angle subsystem；To second layer Lee of load pivot angle subsystem It includes: to V that Ya Punuofu function, which carries out first derivation,_θ2=V_θ1+S_θ ²/ 2 progress first derivations obtainIt enablesBuilding load pivot angle subsystem controller u_θForWherein, h_θFor trolley location subsystem sliding-mode surface coefficient, β_θFor trolley location subsystem handoff gain.

It is worth noting that, the trolley location subsystem controller and the load pivot angle subsystem controller are combined Position pivot angle global sliding mode face is constructed, time-varying function is introduced in the position pivot angle global sliding mode face, building position pivot angle is sliding Mould controller includes: to need because position and pivot angle two-freedom are all inputted by a control by trolley location subsystem Controller and load pivot angle subsystem controller combine, and constructing a total-sliding-mode control device u is u=u_x+u_θ+u_c, wherein u_cFor Coupled switch control law；Building position pivot angle global system Time-dependent sliding surface is S=aS₁+S₂+ωe^-qt, wherein a is sliding-mode surface Weight coefficient, ω are exponential function weighting coefficient, e^-qtFor time-varying exponential function, q is exponential function time-varying coefficient, and t is system fortune Row time variable；Building position pivot angle global system liapunov function is V=S²/2；To position pivot angle global system Li Ya It includes: to V=S that Pu Nuofu function, which carries out first derivation,²Simultaneously abbreviation obtains/2 progress first derivations

Due to trolley location subsystem controller u_xWith load pivot angle subsystem controller u_θIn contain sliding moding structure Reaching law control, therefore to the first derivative of position pivot angle global system liapunov function carry out abbreviation, obtainAccording to sliding mode control algorithm, select basic index Reaching Law as Total-sliding-mode control rule, the specific formula of basic index Reaching Law areη > 0, wherein-kS becomes for index Nearly item, k are Reaching Law, and η is gain coefficient, thus obtain (ab₁u_θ+b₂u_x)+u_c(ab₁+b₂)-ωqe^-qt=-η sgn (S)-kS, Then coupled switch control law u is acquired_cFor u_c=-[b₂u_x+ab₁u_θ+ηsgn(S)+kS-ωqe^-qt]/(ab₁+b₂)；Position pivot angle The switching control function of global system selects S type saturation function, obtains position pivot angle global system controller u=- [ab₁u_x+ b₂u_θ+ηsat(S)+kS]/(ab₁+b₂)。

It should be understood that constructing the mathematical modulo that rope length sliding mode controller includes: rope length subsystem based on back-stepping sliding mode control theory Type formula is rewritten asWherein, x₅=l,L is the rope length of crane,To hang The long change of rope speed of vehicle, u_lFor trolley location subsystem controller, the mathematical modeling formula based on overhead crane is derived from f₃ (x)=- x₅D/m+g, b₃(x)=1/m, wherein f₃For the state variable of rope length subsystem, b₃Become for the input of rope length subsystem Amount, D are the flexible damped coefficient of lifting rope movement；Define rope length tracking error e_l1=x₅-l_d, wherein l_dFor target rope length；To rope length Subsystem tracking error carries out first derivation, to e_l1=x₅-l_dIt differentiates to obtainConstruct rope length subsystem The first layer liapunov function of system is V_l1=e_l1 ²/2；To V_l1=e_l1 ²/ 2 progress first derivations obtainIt enablesIt is constructed in back-stepping sliding mode control algorithm and stablizes item α_l=k_le_l1, wherein k_lError for rope length subsystem is steady Determine coefficient；By α_l=k_le_l1It substitutes intoIt is obtained in formulaWork as e_l2When=0,It is tended towards stability by liapunov function judgement of stability system, but under normal circumstances but under normal circumstances Due at system during the motion, quantity of state be it is unstable, only arrival target position can just settle out, therefore work as e_l2 ≠ 0, it needs further to design rope length subsystem, the second layer liapunov function for defining rope length subsystem is V_l2=V_l1+ S_l ²/ 2, wherein S_l=c_le_l1+e_l2, S_lFor rope length subsystem sliding-mode surface, c_lFor the error coefficient of rope length subsystem；To V_l2=V_l1+ S_l ²/ 2 progress first derivations obtainIt enablesConstruct rope length subsystem controller u_lForWherein, h_lFor rope length subsystem sliding-mode surface coefficient, β_lFor Rope length subsystem handoff gain.

According to the method for the embodiment of the present invention, the anti-sway effect of the embodiment of the present invention is examined by emulation experiment, is emulated Duration is set as 15 seconds, referring to Fig. 6, wherein it is 7 seconds that trolley position, which moves to 3 meters of target position spent times from 0 meter, negative The amplitude peak of pivot angle is carried less than 0.03 radian, while converging to 0 radian at 7 seconds, lifting rope is elongated to 4 meters of length from 1 meter and is spent Time-consuming is 1 second, and lifting rope driving force converges to 0 newton quickly after generating, and convergence time is 1 second, and crane driving force is from the beginning About 45 newton drive trolley movement, then rapidly converge to 0 newton, and the spent time is 7 seconds, produce again without chattering phenomenon later It is raw.The embodiment of the present invention not only overcomes the driving force that time-varying sliding formwork occurs and buffets problem, but also overcomes the appearance of inverting sliding formwork Residual oscillations phenomenon is optimal the control effect of overhead crane.

In order to further examine control method of the embodiment of the present invention to the control effect of overhead crane, it is next provided with five Kind simulated environment experiment, compares control method of the embodiment of the present invention and time-varying sliding-mode control, back-stepping sliding mode control side respectively Method is to the control effect of overhead crane in corresponding simulated environment, and wherein solid line represents the emulation of control method of the embodiment of the present invention As a result situation, square pecked line represent the simulation result situation of time-varying sliding-mode control, and short dash line represents back-stepping sliding mode control side The simulation result situation of method, five kinds of simulated environment conditions are as follows:

Simulated environment 1: under the conditions of light duty, trolley displacement target value and rope length target value are respectively set as 3 meters and 4 Rice, trolley quality and load quality are respectively set as 10 kilograms and 5 kilograms, and other systems model parameter does not change.

Simulated environment 2: under the conditions of heavy load, trolley displacement target value and rope length target value are respectively set as 3 meters and 4 Rice, trolley quality and load quality are respectively set as 500 kilograms and double centner, and other systems model parameter does not change.

Simulated environment 3: under the conditions of big target value, by trolley displacement target value and rope length target value be respectively set as 10 meters and 6 meters, trolley quality and load quality are respectively set as 500 kilograms and double centner, and other systems model parameter does not change.

Simulated environment 4: under the conditions of system model changes, trolley displacement target value and rope length target value are respectively set as 10 Rice and 6 meters, trolley quality and load quality are respectively set as 500 kilograms and double centner, to two-dimentional bridge type crane system model join Number is changed, and crane coefficient of air resistance becomes 0.2 from 0.5, and load air resistance coefficient becomes 0.6 from 0.5, crane friction Coefficient becomes 0.3 from 0.5.

Simulated environment 5: under the conditions of having external interference, trolley displacement target value and rope length target value are respectively set as 10 meters With 6 meters, trolley quality and load quality are respectively set as 500 kilograms and double centner, and crane coefficient of air resistance becomes from 0.5 0.2, load air resistance coefficient becomes 0.6 from 0.5, and crane coefficient of friction becomes 0.3 from 0.5, and overhead crane is by initial position Target position is moved to, after its convergence is stablized, apply one suddenly to load made it from the angle of 0.15 radian up to 1 second power Degree starts to swing.

Referring to Fig. 7,1 experimental result of simulated environment are as follows: in the simulation result using control method of the embodiment of the present invention, load Pivot angle amplitude is less than 0.031 radian, and after convergence without Residual oscillations, and the simulation result of time-varying sliding-mode control is negative Load amplitude of fluctuation is larger, and the simulation result of back-stepping sliding mode control method is that load pivot angle has Residual oscillations；In trolley position control Aspect of performance, 7 seconds arrival index locations of the embodiment of the present invention and does not swing, and the simulation result of back-stepping sliding mode control method has Slight oscillatory；In terms of rope length control, it is 1 second that lifting rope of the embodiment of the present invention, which is elongated to 4 meters of time-consumings from 1 meter, and time-varying sliding formwork control Method processed is 4 seconds time-consuming, and control effect of the embodiment of the present invention is preferable.The above result shows that control method of the embodiment of the present invention is imitative Other two kinds of sliding mode control algorithms are compared in true environment 1, load pivot angle amplitude is smaller, faster reaches stable, control effect is preferable.

Referring to Fig. 8,2 experimental result of simulated environment are as follows: when trolley quality and load quality increase considerably, using this hair In the simulation result of bright embodiment control method, pivot angle amplitude is loaded less than 0.03 radian, without Residual oscillations after convergence, and time-varying The simulation result of sliding-mode control is that load amplitude of fluctuation is larger, and the simulation result of back-stepping sliding mode control method is hunting of load Amplitude is larger and has Residual oscillations；In trolley position control aspect of performance, the embodiment of the present invention is compared with other two kinds of control methods Faster reach designated position, and does not swing；In terms of rope length control, lifting rope of the embodiment of the present invention is elongated to 4 meters of consumptions from 1 meter When be 1 second, and time-varying sliding-mode control is 4 seconds time-consuming, and control effect of the embodiment of the present invention is preferable.The above result shows that this hair Bright embodiment control method compares other two kinds of sliding mode control algorithms in simulated environment 2, and load pivot angle amplitude is smaller, faster reaches To stabilization, control effect is preferable.

Referring to Fig. 9,3 experimental result of simulated environment are as follows: when changing trolley displacement target value and rope length target value, using this The simulation result of inventive embodiments control method is that load pivot angle is 0.1 radian, without Residual oscillations after convergence, and time-varying sliding formwork control The load pivot angle amplitude of system is more than 0.15 radian, after the load pivot angle amplitude of back-stepping sliding mode control is more than 0.1 radian and restrains There are Residual oscillations, the above result shows that, control method of the embodiment of the present invention compares other two kinds of sliding formwork controls in simulated environment 3 Algorithm processed, load pivot angle amplitude is smaller, faster reaches stable, control effect is preferable.

Referring to Fig.1 0,4 experimental result of simulated environment are as follows: when changing the air resistance on two-dimentional bridge type crane system model When force coefficient and coefficient of friction, use the simulation result of control method of the embodiment of the present invention for load pivot angle be 0.1 radian, convergence Afterwards without Residual oscillations, and the load pivot angle amplitude of time-varying sliding formwork control is more than 0.15 radian, the load pivot angle of back-stepping sliding mode control There are Residual oscillations after amplitude is more than 0.1 radian and restrains, the above result shows that, control method of the embodiment of the present invention is emulating Other two kinds of sliding mode control algorithms are compared in environment 4, load pivot angle amplitude is smaller, faster reaches stable, control effect is preferable.

Referring to Fig.1 1,5 experimental result of simulated environment are as follows: under the conditions of applying external interference, using control of the embodiment of the present invention The trolley position recovery overshoot of method processed is smaller than other two kinds of sliding mode control algorithms, and the lifting rope driving force exported is significantly less than Other two kinds of sliding mode control algorithms, lifting rope driving force is close to 0.The above result shows that control method of the embodiment of the present invention is imitative Other two kinds of sliding mode control algorithms are compared in true environment 5, are better than other two kinds of sliding mode control algorithms in control moment output facet.

The embodiment of the invention also provides a kind of bridge crane antiswing device based on sliding-mode surface, in the bridge crane based on sliding-mode surface In antiswing device 1000, including but not limited to: position pivot angle sliding mode controller construction unit 1100, the building of rope length sliding mode controller Unit 1200, acquiring unit 1300, input unit 1400 and output unit 1500.

Wherein, position pivot angle sliding mode controller construction unit 1100, for constructing the position pivot angle system number of overhead crane Model is learned, it, will based on back-stepping sliding mode control theory building trolley location subsystem controller and load pivot angle subsystem controller The trolley location subsystem controller and the load pivot angle subsystem controller combine building position pivot angle global sliding mode face, Time-varying function is introduced in the position pivot angle global sliding mode face, constructs position pivot angle sliding mode controller；

Rope length sliding mode controller construction unit 1200, for constructing the rope length system mathematic model of overhead crane, based on anti- Drill sliding mode control theory building rope length sliding mode controller；

Acquiring unit 1300, for obtaining trolley location parameter, load pivot angle parameter, time parameter and rope length parameter；

Input unit 1400, for the trolley location parameter, load pivot angle parameter, time parameter to be inputted the position In pivot angle sliding mode controller, the rope length parameter is input in rope length sliding mode controller；

Output unit 1500 exports trolley water for the position pivot angle sliding mode controller and rope length sliding mode controller respectively Flat tractive force and along wire saws power.

It should be noted that bridge crane antiswing device and above-mentioned one kind due to one of the present embodiment based on sliding-mode surface The anti-pendular regime of bridge crane based on sliding-mode surface is based on identical inventive concept, and therefore, the corresponding contents in embodiment of the method are equally suitable For present apparatus embodiment, and will not be described here in detail.

The embodiment of the invention also provides a kind of anti-sway equipment of the bridge crane based on sliding-mode surface, should be prevented based on the bridge crane of sliding-mode surface Ornaments standby 2000 can be any type of intelligent terminal, such as mobile phone, tablet computer, personal computer etc..

Specifically, being somebody's turn to do the anti-sway equipment 2000 of bridge crane based on sliding-mode surface includes: one or more 2010 Hes of control processor Memory 2020, in Figure 13 by taking a control processor 2010 as an example.

Control processor 2010 can be connected with memory 2020 by bus or other modes, by total in Figure 13 For line connection.

Memory 2020 be used as a kind of non-transient computer readable storage medium, can be used for storing non-transient software program, Non-transitory computer executable program and module, such as the anti-pendular regime pair of the bridge crane based on sliding-mode surface in the embodiment of the present invention Program instruction/the module answered, for example, position pivot angle sliding mode controller construction unit 1100, rope length sliding formwork control shown in Figure 12 Device construction unit 1200, acquiring unit 1300, input unit 1400 and output unit 1500 processed.Control processor 2010 passes through fortune Non-transient software program, instruction and the module that row is stored in memory 2020, it is anti-thereby executing the bridge crane based on sliding-mode surface The bridge crane based on sliding-mode surface of the various function application and data processing of pendulum device 1000, i.e. realization above method embodiment is anti- Pendular regime.

Memory 2020 may include storing program area and storage data area, wherein storing program area can store operation system Application program required for system, at least one function；Storage data area can be stored according to the bridge crane antiswing device based on sliding-mode surface 1000 use created data etc..In addition, memory 2020 may include high-speed random access memory, can also include Non-transient memory, for example, at least a disk memory, flush memory device or other non-transient solid-state memories.One In a little embodiments, optional memory 2020 includes the memory remotely located relative to control processor 2010, these are long-range Memory can extremely be somebody's turn to do the anti-sway equipment 2000 of bridge crane based on sliding-mode surface by network connection.The example of above-mentioned network includes but not It is limited to internet, intranet, local area network, mobile radio communication and combinations thereof.

One or more of modules are stored in the memory 2020, at by one or more of controls When managing the execution of device 2010, the anti-pendular regime of the bridge crane based on sliding-mode surface in above method embodiment is executed, for example, executing above retouch Method and step S11 to S15 in the Fig. 1 stated realizes the function of the unit 1100-1500 in Figure 12.

The embodiment of the invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage There are computer executable instructions, which is executed by one or more control processors, for example, by Figure 13 A control processor 2010 execute, may make said one or multiple control processors 2010 to execute above method embodiment In the anti-pendular regime of the bridge crane based on sliding-mode surface realize for example, execute the method and step S11 to S15 in Fig. 1 described above The function of unit 1100-1500 in Figure 12.

The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member It is physically separated with being or may not be, it can it is in one place, or may be distributed over multiple network lists In member.Some or all of the modules therein can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.

Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can borrow Help software that the mode of general hardware platform is added to realize.It will be appreciated by those skilled in the art that realizing in above-described embodiment method All or part of the process is relevant hardware can be instructed to complete by computer program, and the program can be stored in one In computer-readable storage medium, the program is when being executed, it may include such as the process of the embodiment of the above method.Wherein, institute The storage medium stated can be magnetic disk, CD, read-only memory (ReadOnly Memory, ROM) or random access memory (Random Access Memory, RAM) etc..

It is to be illustrated to preferable implementation of the invention, but the invention is not limited to above-mentioned embodiment party above Formula, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.