论文标题
高架容器起重机的智能滑动模式控制
Intelligent Sliding Mode Control of an Overhead Container Crane
论文作者
论文摘要
在此贡献中，提出了一个智能控制器，该控制器是针对不符合参数不确定性和未建模动力学的台面容器起重机。采用的方法基于滑动模式方法，以赋予鲁棒性，以防止建模不准确和外部干扰。此外，自适应模糊推理系统被嵌入控制法中，以改善设定点调节和轨迹跟踪。为了评估拟议的智能方案的性能，在汉堡技术大学的力学和海洋工程研究所获得了1：6级实验容器起重机的控制和测试。获得的实验结果不仅证明了所提出的方案的可行性，而且还提高了其对稳定和轨迹跟踪问题的疗效。
In this contribution, an intelligent controller is proposed for an underactuated overhead container crane subject to both parameter uncertainties and unmodeled dynamics. The adopted approach is based on the sliding mode method to confer robustness against modeling inaccuracies and external disturbances. Additionally, an adaptive fuzzy inference system is embedded within the control law to improve set-point regulation and trajectory tracking. In order to evaluate the performance of the proposed intelligent scheme, the control law was implemented and tested in a 1:6 scale experimental container crane, available at the Institute of Mechanics and Ocean Engineering at Hamburg University of Technology. The obtained experimental results demonstrate not only the feasibility of the proposed scheme, but also its improved efficacy for both stabilization and trajectory tracking problems.
