On Anti-swing And Tracking Control Method Based On Sliding Mode For Crane Test Equipment

As a handling tool, crane plays an increasingly important role in the national economy. For crane control, early anti-swing control is characterized by the mechanical type and it mainly relies on the increasing peripheral to achieve the purpose of anti-swing. However it will increase the loss of mechanical wear and energy. Without any additional external circumstances, resolving the problem of crane’s anti-swing and tracking control has gradually become the scholars’ focus at home and abroad. Considering the sliding mode variable structure control has quick response speed and the characteristics of robustness on the outside noise disturbance and parameter perturbation. Therefore, there is practical significance to apply the sliding mode control in the crane. Based on the sliding mode variable structure control, this paper uses three different sliding modes for the anti-swing and tracking controller design of the crane system and the effectiveness of the sliding mode method in crane control is verified by simulation finally.Firstly, this article describes the current research status of crane control and sliding mode method. And the basic principle of model and sliding mode method of the crane system are also depicted. Then the ordinary sliding mode method is used to design the controller. In order to improve the performance of the system, in the reaching phase, this article cites the reaching law thoughts. According to the simulation results, this method can get good effect of anti-swing and tracking.Secondly, the terminal sliding mode method is used to design the controller of anti-swing and tracking. The biggest difference between terminal sliding mode control and the common is the finite time convergence, and the terminal sliding mode controller enables the faster convergence of the system. However, the conventional method of the terminal sliding mode method has the singular problems. In order to solve the singular problem, this paper adopts the nonsingular terminal sliding mode method. The whole system is divided into two single inputs and single outputs subsystems by using the decomposition control method. After that, the anti-swing and tracking control can be designed. The simulation results verify that the terminal sliding mode method has fast convergence speed when maintaining a good performance of ordinary sliding mode method.Finally, this paper designs the global sliding mode controller; the motion of the system is designed on the sliding surface from the beginning. This eliminates the reaching phase, so that the system is robust in the whole stage. Simulation result shows that the global sliding mode method can make the system having better robustness.