Overhead Crane Trajectory Planning And Sliding Mode Control Method

Overhead crane is an important lifting and transport equipment,have been playing extremely important roles in various fields,such as ports,manufacturing,marine industry,construction,its task is to transport cargos from their initial positions to desired locations rapidly and accurately,with negligible swing.However,Due to the underactuated property of overhead crane,it is very difficult to realize the dual tasks of fast positioning and anti swing.Based on the previous research work,this thesis studies the trajectory planning and sliding mode control method of the overhead crane.The main contents of this paper are as follows:(1)The dynamic model of overhead crane is established.The dynamic model of3 D and 2D overhead crane system is established with utilizing Euler-Lagrange equation;Since the trolley is mainly affected by the external disturbance of friction during its operation,experiments are carried out to obtain a model of the friction force.(2)Based on the phase plane analysis,an improved S-curve for overhead cranes is proposed.In the first step,By analyzing the trolley and payload kinematic coupling,the controllability of underactuated subsystem composed of sling and payload is analyzed,the under-actuated subsystem is fully controllable,which means that the phase trajectory of the under-actuated subsystem can be returned to the origin along any trajectory by planning the acceleration trajectory of the trolley;and in the second step,Based on the phase plane analysis,the trajectory planning process of trapezoidal velocity curve and Double S curve are introduced,and an improved S-curve is proposed,which can realize jerk continuous;in the last step,Simulation and experiment results demonstrate the motion planning based on phase plane analysis has a superior performance for anti swing.(3)A type 2 fuzzy sliding mode control method based on interval type 2 fuzzy time-varying boundary layer is proposed,which can dynamically change the thickness of the boundary layer using the information of the system phase trajectory and magnitude of the switching control,improves the trajectory tracking performance compared to the constant boundary layer sliding mode method;An adaptive parameter sliding mode control method is proposed,which can still achieve good trajectory tracking performance in the face of uncertain model parameters of overhead crane,Matlab/Simulink simulation experiment results prove the effectiveness of the proposed method,and the experiment and analysis are carried out.