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.

提出了一种龙门起重机模糊滑模定位与防摆控制方案。考虑吊绳绳长的变化,把龙门起重机系统简化为三个多输入子系统,定义了四个滑模面,设计了模糊滑模控制器,使得起重机小车能快速精确到达期望位置,在负载快速提升和下降过程中抑制重物的摆动,并能准确跟踪吊绳绳长的变化,实现控制目标,提高生产效率,同时系统能快速到达滑平面,改善控制系统的性能。仿真结果证明了该控制方案的正确性和有效性。

龙门起重机, 模糊控制, 滑模控制, 多输入系统