龙门起重机, 模糊控制, 滑模控制, 多输入系统

A new positioning and an anti-swing control scheme with fuzzy sliding mode were proposed herein. The gantry crane was simplified into three multi-input subsystems, four sliding mode surfaces were defined and a fuzzy sliding controller was designed. The crane trolley can be quickly and accurately reached to the anticipated position, and the swing of heavy body was restrained during the process of high-speed load hoisting and dropping, and then the varying length of lifting rope can be traced exactly, as thus the control objective was realized and the operating efficiency was improved. Meanwhile, the inherent chattering phenomena of sliding mode control can be eliminated and the performances of control system can be ameliorated. The simulation results show the correctness and validity of this method.