陈志梅,孟文俊,张井岗

• 1:太原科技大学

摘要(Abstract)：

考虑桥式起重机载荷的垂直运动速度,提出一种新的基于输入整形的组合滑模控制方法。结合输入整形前馈控制和滑模反馈控制的优点,设计组合滑模控制器控制小车位移和负载摆角,利用输入整形进一步抑制负载的残留振荡,采用Lyapunov方法证明了系统的稳定性,实现了起重机小车的精确定位和负载的消摆,对外部干扰具有很强的鲁棒性,控制性能得到了改善。仿真结果表明了方案的有效性和可行性。

关键词(KeyWords)： 桥式起重机;组合滑模控制;输入整形;鲁棒性

Abstract:

Keywords:

基金项目(Foundation): 国家自然基金(51075289);; 山西省自然科学基金(2011011011-2);; 太原科技大学博士研究基金(20122014)

作者(Author): 陈志梅,孟文俊,张井岗

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