Research on accurate motion control of cable crane based on variable structure sliding mode

Cable crane is an important transportation tool widely used in construction and industry. With the improvement in automation requirements, the automatic positioning and anti-swing control of the crane are concerned. The different disturbances in the industrial site have a great impact on the smooth operation of the crane, which brings challenges to its positioning and anti-swing. In this paper, a novel variable structure controller is designed on the basis of the nonlinear dynamic modeling of the crane. The nonlinear system is divided into two subsystems containing displacement and swing angle information, and then, the overall sliding mode design is carried out to achieve the ideal coupling control performance. A suitable switching function term is established to solve the uncontrollable problem of non-driving variables. Aiming at the chattering problem of sliding mode control system, a fuzzy controller is designed to improve the positioning accuracy of the system. The strict stability analysis is carried out. At last, simulation and experimental results verify the superiority and effectiveness of the proposed method.

Automated summary

In this paper, a novel variable structure controller is designed based on the nonlinear dynamic modeling of the crane. The nonlinear system is divided into two subsystems containing displacement and swing angle information, and overall sliding mode design is carried out to achieve ideal coupling control performance. A fuzzy controller is designed to improve the positioning accuracy of the system and strict stability analysis is conducted. The simulation and experimental results verify the superiority and effectiveness of the proposed method.