双起升桥吊双吊具互锁的自适应滑模同步控制

为解决双起升桥式吊车双吊具同步协调控制中普遍存在的内部参数扰动、外界干扰以及双吊具之间的耦合作用问题，提出了一种双吊具自适应滑模同步协调控制方法.在分析双吊具互锁工作模式运行特性的基础上，建立了双吊具互锁模式下的耦合动力学模型.通过时变滑模方法，实现了控制器在滑模趋近阶段的鲁棒性控制.采用自适应补偿技术，抑制了双吊具运行中存在的不确定扰动，并减小了时变滑模控制中切换函数的增益值.在切换函数设计中采用双极Sigmoid函数代替符号函数方法，明显降低了控制器的抖振现象.利用Lyapunov方法，证明了控制器的全局稳定性.数值仿真和实验结果表明，所提出的控制方法有效.

Adaptive Sliding Mode Synchronous Control of Locked Double-Container of Overhead Crane

To solve the problems of internal parameter perturbation, external disturbances and coupling interaction in synchronous control for double-container in overhead crane system, this paper proposed an adaptive sliding mode synchronous control method. First, based on the study of the operational characteristics of the double-container in locked work mode a coupling dynamic model of potential energy load for the double-container was established. Secondly, the time-varying sliding mode control method enhanced the robustness of sliding mode control in the reaching phase. Then, adaptive disturbance compensator restrained the uncertain disturbance which existed in synchronous control of the double-container, and reduces the gain value of switching function at the same time. Furthermore, instead of sign function, the Sigmoid function was introduced into the design of the switching function, in order to eliminate the chattering phenomenon. Lyapunov stability theory verified the global stability of the method. Numerical simulation result and the physical experimental result show the effectiveness of the approach.