CN110526124B - A kind of anti-swing method, device, equipment and storage medium of bridge crane based on sliding surface - Google Patents

Abstract

The invention discloses a method, a device, equipment and a storage medium for preventing a bridge crane from swinging based on a sliding mode surface.A trolley position subsystem controller and a load swing angle subsystem controller are designed layer by layer based on an inversion control algorithm, then the trolley position subsystem controller and the load swing angle subsystem controller are combined to construct a position swing angle global sliding mode surface, and a time-varying function is introduced in the sliding mode surface design to construct a position swing angle controller; and designing the rope length controller layer by combining a state space function of the rope length with a Lyapunov function based on an inverse sliding mode control theory, so as to realize gradual stability of the lifting rope subsystem. The method provided by the embodiment of the invention can not only solve the problem of system non-matching uncertainty, eliminate buffeting in the traditional sliding mode control algorithm to the maximum extent, improve the robustness of crane system anti-swing control, enable the system to have anti-interference capability and further improve the stability and control performance of a bridge crane system.

Description

A kind of anti-swing method, device, equipment and storage medium of bridge crane based on sliding surface

technical field

The invention relates to the technical field of bridge cranes, in particular to an anti-swing method, device, equipment and storage medium for bridge cranes based on a sliding surface.

Background technique

As a large-scale cargo loading and unloading mechanical device, overhead cranes are widely used in the assembly and transportation process of ports, warehouses, heavy industry workshops, construction sites and other places. The main goal of overhead crane system control is to achieve precise crane positioning and eliminate the swing angle of the load as much as possible, so that the goods can be transported to the designated position in the shortest time without swinging. Sliding mode control has good control performance for nonlinear systems and is widely used in the system control of overhead cranes. However, the current mainstream overhead crane sliding mode control has the following problems:

The traditional general sliding mode control algorithm cannot deal with the problem of mismatching uncertainty of the system, so chattering phenomenon will occur, which will affect the service life of the motor. In addition, when the traditional sliding mode control algorithm greatly changes the system parameters, the anti-swing control effect of the crane will become poor and the robustness will be poor. When the system is strongly disturbed by the outside, the control algorithm cannot make timely and accurate decisions In response, the anti-sway effect of the bridge suspension is further weakened.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned problems, the purpose of the present invention is to provide an anti-swing method, device, equipment and storage medium for a bridge crane based on a sliding mode surface, which can deal with the advantages of non-matching uncertainty of the system by using the inversion sliding mode control technology, and at the same time. The introduction of the time-varying sliding surface makes the system more robust and further improves the stability and control performance of the overhead crane system.

The technical scheme adopted by the present invention to solve its problem is:

In a first aspect, the present invention provides an anti-swing method for a bridge crane based on a sliding mode surface, including: constructing a mathematical model of a position swing angle system of an overhead crane, and constructing a trolley position subsystem controller based on an inverse sliding mode control theory and the load swing angle subsystem controller, the trolley position subsystem controller and the load swing angle subsystem controller are combined to construct a position swing angle global sliding mode surface, when introduced into the position swing angle global sliding mode surface Variable function to construct a position swing angle sliding mode controller;

Build the mathematical model of the rope length system of the overhead crane, and construct the rope length sliding mode controller based on the inversion sliding mode control theory;

Obtain trolley position parameters, load swing angle parameters, time parameters and rope length parameters;

Inputting the trolley position parameter, load swing angle parameter and time parameter into the position swing angle sliding mode controller, and inputting the rope length parameter into the rope length sliding mode controller;

The position and swing angle sliding mode controller and the rope length sliding mode controller respectively output the horizontal traction force of the trolley and the traction force along the rope.

Further, the construction of the trolley position subsystem controller based on the inversion sliding mode control theory includes:

Build the first-level Lyapunov function of the trolley position subsystem;

Perform the first-order derivation of the first-level Lyapunov function of the trolley position subsystem;

If the first derivative of the Lyapunov function of the first layer of the trolley position subsystem is not greater than 0, obtain the trolley position subsystem controller;

If the first derivative of the Lyapunov function of the first layer of the trolley position subsystem is greater than 0, construct the Lyapunov function of the second layer of the trolley position subsystem of the trolley position subsystem;

First-order derivation of the Lyapunov function of the second-level trolley position subsystem of the trolley position subsystem;

Let the first derivative of the Lyapunov function of the second-layer trolley position subsystem of the trolley position subsystem be not greater than zero, and obtain the trolley position subsystem controller.

Further, the construction of the load swing angle subsystem controller based on the inversion sliding mode control theory includes:

Build the first-level Lyapunov function of the load swing angle subsystem;

Perform the first-order derivation of the first-level Lyapunov function of the load swing angle subsystem;

If the first derivative of the Lyapunov function of the first layer of the load swing angle subsystem is not greater than 0, obtain the load swing angle subsystem controller;

If the first derivative of the Lyapunov function of the first layer of the load swing angle subsystem is greater than 0, construct the second layer of the Lyapunov function of the load swing angle subsystem;

Perform the first-order derivation of the second-level Lyapunov function of the load swing angle subsystem;

Let the first derivative of the second-level Lyapunov function of the load swing angle subsystem be not greater than zero, and obtain the load swing angle subsystem controller.

Further, the trolley position subsystem controller and the load swing angle subsystem controller are combined to construct a position swing angle global sliding mode surface, and a time-varying function is introduced into the position swing angle global sliding mode surface to construct The position swing angle sliding mode controller includes:

Construct the sliding mode control function of the global system of position swing angle;

Build a time-varying sliding surface for a global system of position and swing angle;

Construct the Lyapunov function of the global system of position and swing angle;

Perform the first-order derivation of the Lyapunov function of the global system of position and swing angles;

A general exponential approach law is constructed to obtain the coupled switch control law of the sliding mode control of the global system of position swing angle;

The S-shaped saturation function is constructed as the sliding mode control function of the global system of position swing angle to obtain the position swing angle sliding mode controller.

Further, the construction of the rope length sliding mode controller based on the inversion sliding mode control theory includes: constructing the first layer Lyapunov function of the rope length subsystem;

Take the first-order derivation of the first-level Lyapunov function of the rope length subsystem;

If the first derivative of the Lyapunov function of the first layer of the rope length subsystem is not greater than 0, obtain the rope length subsystem controller;

If the first-order derivative of the first-layer Lyapunov function of the rope-length subsystem is greater than 0, constructing the second-layer Lyapunov function of the rope-length subsystem;

Take the first-order derivation of the second-level Lyapunov function of the rope length subsystem;

Let the first derivative of the second-level Lyapunov function of the rope length subsystem be not greater than zero, and obtain the rope length subsystem controller.

In a second aspect, the present invention provides an anti-swing device for a bridge crane based on a sliding mode surface, comprising: a position swing angle sliding mode controller construction unit for constructing a mathematical model of the position swing angle system of the bridge crane, based on inversion The sliding mode control theory constructs the trolley position subsystem controller and the load swing angle subsystem controller, and combines the trolley position subsystem controller and the load swing angle subsystem controller to construct the position swing angle global sliding mode surface. A time-varying function is introduced into the global sliding mode surface of the position swing angle to construct a position swing angle sliding mode controller;

The rope length sliding mode controller construction unit is used to construct the mathematical model of the rope length system of the overhead crane, and the rope length sliding mode controller is constructed based on the inversion sliding mode control theory;

The acquisition unit is used to acquire the trolley position parameters, load swing angle parameters, time parameters and rope length parameters;

an input unit for inputting the position parameter, load swing angle parameter and time parameter of the trolley into the position swing angle sliding mode controller, and inputting the rope length parameter into the rope length sliding mode controller;

The output unit is used for the position swing angle sliding mode controller and the rope length sliding mode controller to output the horizontal traction force and the rope traction force of the trolley respectively.

In a third aspect, the present invention provides a bridge suspension anti-swing device based on a sliding surface,

comprising at least one control processor and a memory for communicative connection with the at least one control processor; the memory stores instructions executable by the at least one control processor, the instructions are executed by the at least one control processor to cause the at least one control processor The sliding surface-based anti-sway method of the bridge suspension as described above can be performed.

In a fourth aspect, the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause the computer to execute the above-mentioned sliding surface-based bridge suspension anti-sway method.

In a fifth aspect, the present invention also provides a computer program product, the computer program product including a computer program stored on a computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer , to make the computer execute the above-mentioned sliding surface-based bridge suspension anti-sway method.

The one or more technical solutions provided in the embodiments of the present invention have at least the following beneficial effects: after the trolley position subsystem controller and the load swing angle subsystem controller are designed layer by layer based on the inversion control algorithm, the trolley position subsystem controller is designed The controller and the load swing angle subsystem controller are combined to construct a global sliding mode surface for the position swing angle, and a time-varying function is introduced into the sliding mode surface design, which greatly reduces the time for the state variables to reach the sliding mode surface; based on inversion sliding mode control In theory, the state space function of the rope length is combined with the Lyapunov function to design the rope length controller layer by layer, so as to realize the asymptotic stability of the suspending rope subsystem. The method of the embodiment of the present invention can not only deal with the problem of non-matching uncertainty of the system, eliminate the chattering phenomenon existing in the traditional sliding mode control algorithm to the greatest extent, but also improve the robustness of the anti-swing control of the crane system, and at the same time make the system anti-interference ability to further improve the stability and control performance of the overhead crane system.

Description of drawings

The present invention will be further described below with reference to the accompanying drawings and embodiments.

Fig. 1 is the method flow chart of the embodiment of the present invention;

2 is a flowchart of a method for constructing a trolley position subsystem controller based on the inversion sliding mode control theory according to an embodiment of the present invention;

3 is a flowchart of a method for constructing a load swing angle subsystem controller based on inversion sliding mode control theory according to an embodiment of the present invention;

4 is an embodiment of the present invention that combines the trolley position subsystem controller and the load swing angle subsystem controller to construct a position swing angle global sliding mode surface, when introduced into the position swing angle global sliding mode surface Variable function, the method flow chart of constructing the position swing angle sliding mode controller;

5 is a flowchart of a method for constructing a rope length sliding mode controller based on inversion sliding mode control theory according to an embodiment of the present invention;

Fig. 6 is the simulation experiment effect diagram of the embodiment of the present invention;

7 is a simulation experiment effect diagram of the control method according to the embodiment of the present invention, the time-varying sliding mode control method, and the inversion sliding mode control method in the simulation environment 1;

8 is a simulation experiment effect diagram of the control method, the time-varying sliding mode control method, and the inversion sliding mode control method in the simulation environment 2 according to the embodiment of the present invention;

9 is a simulation experiment effect diagram of the control method, the time-varying sliding mode control method, and the inversion sliding mode control method in the simulation environment 3 according to the embodiment of the present invention;

Fig. 10 is the simulation experiment effect diagram of the control method of the embodiment of the present invention, the time-varying sliding mode control method, and the inversion sliding mode control method in the simulation environment 4;

Fig. 11 is the simulation experiment effect diagram of the control method of the embodiment of the present invention, the time-varying sliding mode control method, and the inversion sliding mode control method in the simulation environment 5;

12 is a schematic diagram of a unit structure in a device according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of connections in a device according to an embodiment of the present invention;

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

It should be noted that, if there is no conflict, various features in the embodiments of the present invention can be combined with each other, which are all within the protection scope of the present invention. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, the modules in the device may be divided differently, or the sequence shown in the flowchart may be performed. or the described steps.

Referring to FIG. 1 , an embodiment of the present invention provides a method for anti-swinging of a bridge suspension based on a sliding surface, including:

Step S11, construct the mathematical model of the position swing angle system of the overhead crane, build the trolley position subsystem controller and the load swing angle subsystem controller based on the inversion sliding mode control theory, and combine the trolley position subsystem controller and all The load swing angle subsystem controller is combined with constructing a position swing angle global sliding mode surface, and a time-varying function is introduced into the position swing angle global sliding mode surface to construct a position swing angle sliding mode controller;

Step S12, constructing the mathematical model of the rope length system of the overhead crane, and constructing the rope length sliding mode controller based on the inversion sliding mode control theory;

Step S13, obtain the trolley position parameter, load swing angle parameter, time parameter and rope length parameter;

Step S14, inputting the trolley position parameter, load swing angle parameter and time parameter into the position swing angle sliding mode controller, and inputting the rope length parameter into the rope length sliding mode controller;

Step S15, the position swing angle sliding mode controller and the rope length sliding mode controller output the horizontal traction force and the rope traction force of the trolley respectively.

In the embodiment of the present invention, the original complex dynamic model of overhead crane is converted into a general state space function form, and the trolley position subsystem controller and the load swing angle subsystem controller are designed layer by layer by using the inversion control algorithm, and the trolley position The subsystem controller and the load swing angle subsystem controller are combined to construct a global sliding mode surface for the position swing angle, and a time-varying function is introduced into the sliding mode surface design. The sliding mode surface can change with time, making the sliding mode surface The initial position of the surface is as close to the state variable as possible, which greatly reduces the time for the state variable to reach the sliding mode surface; the rope length subsystem controller is constructed, and the state space function of the rope length combined with the Lyapunov function is used to perform a step-by-step process using the inversion sliding mode control theory. Layer design to achieve the progressive stability of the sling subsystem.

The overhead crane system is an underactuated system, and the two state quantities of the trolley position and the load swing angle are driven by the same motor, that is, one drive quantity causes the two state quantities to change at the same time. Therefore, in the design of the position swing angle subsystem controller It is necessary to take into account the anti-swing controller of the trolley position and the load swing angle at the same time, and build the trolley position subsystem controller and the load swing angle subsystem controller respectively, and then combine the trolley position subsystem controller and the load swing angle subsystem. The controller introduces a time-varying function to construct a global system controller for the position and swing angle.

Referring to Fig. 2, wherein, the construction of the trolley position subsystem controller based on the inversion sliding mode control theory also includes the following steps:

Step S21, constructing the first-layer Lyapunov function of the trolley position subsystem;

Step S22, first-order derivation is performed on the Lyapunov function of the first layer of the trolley position subsystem;

Step S23, if the first derivative of the Lyapunov function of the first layer of the trolley position subsystem is not greater than 0, then obtain the trolley position subsystem controller;

Step S24, if the first derivative of the Lyapunov function of the first layer of the trolley position subsystem is greater than 0, construct the Lyapunov function of the second layer of the trolley position subsystem of the trolley position subsystem;

Step S25, first-order derivation is performed on the Lyapunov function of the second-layer trolley position subsystem of the trolley position subsystem;

In step S26, the first derivative of the Lyapunov function of the second-layer trolley position subsystem of the trolley position subsystem is not greater than zero, and the trolley position subsystem controller is obtained.

In the embodiment of the present invention, based on the inversion sliding mode control theory, combined with the Lyapunov function for stability design, the trolley position subsystem controller is constructed. The first layer of the Lyapunov function only contains the trolley position parameters. Its derivation can obtain the speed parameter of the trolley, which is not enough for the design of the trolley position controller, because it does not include the motion acceleration variable of the trolley, and the asymptotic stability of the trolley position controller cannot be guaranteed, so it is necessary to determine the position of the trolley. The subsystem builds the second-layer Lyapunov function, which stabilizes the trolley position subsystem and enhances the robustness and control performance of the system.

Referring to Fig. 3, wherein, constructing the load swing angle subsystem controller based on the inversion sliding mode control theory includes the following steps:

Step S31, constructing the first-layer Lyapunov function of the load swing angle subsystem;

Step S32, first-order derivation is performed on the Lyapunov function of the first layer of the load swing angle subsystem;

Step S33, if the first derivative of the Lyapunov function of the first layer of the load swing angle subsystem is not greater than 0, then obtain the load swing angle subsystem controller;

Step S34, if the first derivative of the Lyapunov function of the first layer of the load swing angle subsystem is greater than 0, construct the second layer of the Lyapunov function of the load swing angle subsystem;

Step S35, first-order derivation is performed on the second-layer Lyapunov function of the load swing angle subsystem;

In step S36, the first derivative of the Lyapunov function of the second layer of the load swing angle subsystem is not greater than zero, and the control of the load swing angle subsystem is obtained.

In the embodiment of the present invention, based on the inversion sliding mode control theory, and combined with the Lyapunov function for stability design, the load swing angle subsystem controller is constructed. The first layer of the Lyapunov function only includes the load swing angle angle parameter. Its derivation can obtain the speed parameter of the load swing angle motion, which is not enough for the design of the load swing angle controller, because the motion acceleration variable of the load swing angle is not included, and the asymptotic stability of the load swing angle controller cannot be guaranteed, so it is necessary to adjust the load swing angle controller. The swing angle subsystem constructs the second-layer Lyapunov function, which stabilizes the load swing angle subsystem and enhances the robustness and control performance of the system.

Referring to FIG. 4, wherein the trolley position subsystem controller and the load swing angle subsystem controller are combined to construct a position swing angle global sliding mode surface, and a time-varying function is introduced into the position swing angle global sliding mode surface , the construction of the position swing angle sliding mode controller includes the following steps:

Step S41, constructing the global system sliding mode control function of the position swing angle;

Step S42, constructing a time-varying sliding surface of a global system of position swing angle;

Step S43, constructing the Lyapunov function of the global system of position swing angle;

Step S44, first-order derivation is performed on the Lyapunov function of the position swing angle global system;

Step S45, constructing a general exponential reaching law to obtain the coupled switch control law of the sliding mode control of the global system of the position swing angle;

Step S46, constructing the S-shaped saturation function as the sliding mode control function of the global system of the position swing angle to obtain the position swing angle sliding mode controller.

The inversion sliding mode control design method firstly divides the complex non-linear state system with missing driving variables into subsystems with no more than system layers, and then combines the Lyapunov function with the control variables that have no actual physical meaning in the middle. Introduced into the subsystem design, the sliding mode variable structure control is introduced into the virtual control quantity of the last layer of the system, and the invariance of the sliding mode control is used to ensure the asymptotic stability of the final subsystem. In the embodiment of the present invention, it is first divided into stages The vehicle position subsystem and the load swing angle subsystem build controllers respectively, and the time-varying sliding mode surface is introduced in the construction of the last layer of the system, so as to construct a global sliding mode controller for the position swing angle.

Referring to Figure 5, wherein, constructing a rope length sliding mode controller based on the inversion sliding mode control theory includes the following steps:

Step S51, constructing the first-layer Lyapunov function of the rope length subsystem;

Step S52, first-order derivation is performed on the Lyapunov function of the first layer of the rope length subsystem;

Step S53, if the first derivative of the Lyapunov function of the first layer of the rope length subsystem is not greater than 0, obtain the rope length subsystem controller;

Step S54, if the first derivative of the Lyapunov function of the first layer of the rope length subsystem is greater than 0, then construct the second layer of the Lyapunov function of the rope length subsystem;

Step S55, first-order derivation is performed on the second-layer Lyapunov function of the rope length subsystem;

In step S56, the first derivative of the Lyapunov function of the second layer of the rope length subsystem is not greater than zero, and the rope length subsystem controller is obtained.

In the embodiment of the present invention, based on the inversion sliding mode control theory and combined with the Lyapunov function for stability design, the rope length subsystem controller is constructed. The first layer of the Lyapunov function only contains the rope length and length parameters. It is not enough for the design of the rope length controller, because it does not include the motion acceleration variable of the rope length, and the asymptotic stability of the rope length controller cannot be guaranteed, so it is necessary to build a second layer for the rope length subsystem. The Lyapunov function stabilizes the rope length subsystem and enhances the robustness and control performance of the system.

其中，x₁＝x，

x为台车移动的位置，

为台车移动的速度，u_x为台车位置子系统控制器，基于桥式吊车的数学模型公式推导得出

b₁(x)＝1/[M+msin²(x₃)]，其中，f₁为台车位置子系统的状态变量，b₁为台车位置子系统的输入变量，l为吊绳的绳长，M为吊车质量，m为负载质量，g为重力加速度，x₃＝θ，

θ为负载的摆角，

为负载摆角的角速度；定义台车位置跟踪误差e₁＝x₁-x_1d，其中，x_1d为台车目标位置；对e₁＝x₁-x_1d求导数得到

构建台车位置子系统的第一层李雅普诺夫函数为V₁＝e₁ ²/2；对V₁＝e₁ ²/2进行一阶求导得到

令

其中α₁为虚拟中间变量，在反演滑模控制算法中构建稳定项α₁＝k₁e₁，其中k₁为台车位置子系统的误差稳定系数；将α₁＝k₁e₁代入

式子中得到

当e₂＝0时，

由李雅普诺夫函数稳定性判断系统趋于稳定，但一般情况下由于系统处在运动过程中，状态量是不稳定的，只有到达目标位置才会稳定下来，因此当e₂≠0，需要对台车位置子系统进一步设计，定义第二层李雅普诺夫函数为

其中，S₁＝c₁e₁+e₂，S₁为台车位置子系统滑模面，c₁为台车位置子系统的误差系数；对台车位置子系统的第二层台车位置子系统李雅普诺夫函数进行一阶求导包括：对

进行一阶求导得到

令

构建台车位置子系统控制器u_x为

其中，h_x为台车位置子系统滑模面系数，β_x为台车位置子系统切换增益。In a preferred embodiment, constructing the trolley position subsystem controller based on the inverse sliding mode control theory includes: constructing a mathematical model of the trolley position subsystem, and the mathematical model formula of the overhead crane is rewritten considering the trolley position degree of freedom as The following formula:

where x ₁ =x,

x is the position where the trolley moves,

is the moving speed of the trolley, and u _x is the trolley position subsystem controller, which is derived based on the mathematical model formula of the overhead crane.

b ₁ (x)=1/[M+msin ² (x ₃ )], where f ₁ is the state variable of the trolley position subsystem, b ₁ is the input variable of the trolley position subsystem, and l is the rope length, M is the crane mass, m is the load mass, g is the gravitational acceleration, x ₃ =θ,

θ is the swing angle of the load,

is the angular velocity of the load swing angle; define the trolley position tracking error e ₁ =x ₁ -x _1d , where x _1d is the target position of the trolley; take the derivative of e ₁ =x ₁ -x _1d to get

The first-level Lyapunov function for constructing the trolley position subsystem is V ₁ =e ₁ ² /2; the first-order derivation of V ₁ =e ₁ ² /2 is obtained

make

where α ₁ is a dummy intermediate variable, and the stability term α ₁ =k ₁ e ₁ is constructed in the inversion sliding mode control algorithm, where k ₁ is the error stability coefficient of the trolley position subsystem; substitute α ₁ =k ₁ e ₁ into

get in the formula

When e ₂ =0,

Judging by the stability of the Lyapunov function, the system tends to be stable, but in general, because the system is in the process of motion, the state quantity is unstable, and it will stabilize only when it reaches the target position. Therefore, when e ₂ ≠ 0, it is necessary to correct The trolley position subsystem is further designed, and the second layer Lyapunov function is defined as

Among them, S ₁ =c ₁ e ₁ +e ₂ , S ₁ is the sliding mode surface of the trolley position subsystem, and c ₁ is the error coefficient of the trolley position subsystem; The first-order derivation of the Lyapunov function of the subsystem includes:

Perform first-order derivation to get

make

Build the trolley position subsystem controller u _x as

Among them, h _x is the sliding mode surface coefficient of the trolley position subsystem, and β _x is the switching gain of the trolley position subsystem.

其中，x₃＝θ，

θ为负载的摆动角度，

为负载的摆动角速度，u_θ为台车位置子系统控制器，基于桥式吊车的数学模型公式推导得出

b₂(x)＝[-cos(x₃)]/{[M+msin²(x₃)]l}，其中，f₂为摆角子系统的状态变量，b₂为摆角子系统的输入变量；定义负载摆角跟踪误差e_θ1＝x₃-θ_d，θ_d为目标负载摆角大小，理想状态应为0；对e_θ1＝x₃-θ_d求导数得到

构建负载摆角子系统的第一层李雅普诺夫函数为V_θ1＝e_θ1 ²/2；对V_θ1＝e_θ1 ²/2进行一阶求导得到

令

在反演滑模控制算法中构建稳定项α_θ＝k_θ1e_θ1，其中k_θ为负载摆角子系统的误差稳定系数；将α_θ＝k_θ1e_θ1代入

式子中得到

当e_θ2＝0时，

由李雅普诺夫函数稳定性判断系统趋于稳定，但一般情况下但一般情况下由于系统处在运动过程中，状态量是不稳定的，只有到达目标位置才会稳定下来，因此当e_θ2≠0，需要对负载摆角子系统进一步设计，定义负载摆角子系统的第二层李雅普诺夫函数为V_θ2＝V_θ1+S_θ ²/2，其中，S_θ＝c_θe_θ1+e_θ2，S_θ为负载摆角子系统滑模面，c_θ为负载摆角子系统的误差系数；对负载摆角子系统的第二层李雅普诺夫函数进行一阶求导包括：对V_θ2＝V_θ1+S_θ ²/2进行一阶求导得到

令

构建负载摆角子系统控制器u_θ为

其中，h_θ为台车位置子系统滑模面系数，β_θ为台车位置子系统切换增益。In the embodiment of the present invention, the construction of the load swing angle subsystem controller based on the inversion sliding mode control theory includes: the mathematical model formula of the overhead crane is rewritten as the load swing angle degree of freedom as the following formula:

where x ₃ =θ,

θ is the swing angle of the load,

is the swing angular velocity of the load, u _θ is the trolley position subsystem controller, which is derived based on the mathematical model formula of the overhead crane

b ₂ (x)=[-cos(x ₃ )]/{[M+msin ² (x ₃ )]l}, where f ₂ is the state variable of the swing angle subsystem, and b ₂ is the input variable of the swing angle subsystem ;Define load swing angle tracking error e _θ1 =x ₃ -θ _d , θ _d is the size of the target load swing angle, ideally it should be 0; take the derivative of e _θ1 =x ₃ -θ _d to get

The first-level Lyapunov function to construct the load swing angle subsystem is V _θ1 =e _θ1 ² /2; the first-order derivation of V _θ1 =e _θ1 ² /2 is

make

The stability term α _θ = k _θ1 e _θ1 is constructed in the inversion sliding mode control algorithm, where k _θ is the error stability coefficient of the load swing angle subsystem; α _θ = k _θ1 e _θ1 is substituted into

get in the formula

When e _θ2 = 0,

Judging by the stability of the Lyapunov function, the system tends to be stable, but in general, because the system is in the process of motion, the state quantity is unstable, and it will stabilize only when it reaches the target position, so when e _θ2 ≠ 0, the load swing angle subsystem needs to be further designed, and the second-level Lyapunov function of the load swing angle subsystem is defined as V _θ2 =V _θ1 +S _θ ² /2, where S _θ =c _θ e _θ1 +e _θ2 , S _θ is the sliding mode surface of the load swing angle subsystem, and c _θ is the error coefficient of the load swing angle subsystem; the first-order derivation of the second-layer Lyapunov function of the load swing angle subsystem includes: V _θ2 = V _θ1 +S _θ ² /2 is obtained by first-order derivation

make

Construct the load swing angle subsystem controller u _θ as

Among them, h _θ is the sliding mode surface coefficient of the trolley position subsystem, and β _θ is the switching gain of the trolley position subsystem.

It is worth noting that the trolley position subsystem controller and the load swing angle subsystem controller are combined to construct a position swing angle global sliding mode surface, and a time-varying function is introduced into the position swing angle global sliding mode surface, The construction of the position and swing angle sliding mode controller includes: because the two degrees of freedom of position and swing angle are both controlled by one control input, it is necessary to combine the trolley position subsystem controller and the load swing angle subsystem controller to construct a global sliding mode controller u is u=u _x +u _θ +u _c , where u _c is the coupled switch control law; the time-varying sliding mode surface of the global system of position swing angle is S=aS ₁ +S ₂ +ωe ^-qt , where a is The weight coefficient of the sliding mode surface, ω is the weighting coefficient of the exponential function, e ^{-qt is the} time-varying exponential function, q is the time-varying coefficient of the exponential function, and t is the system running time variable; the Lyapunov function of the global system for constructing the position swing angle is V = S ² /2; the first-order derivation of the Lyapunov function of the global system of position swing angle includes: first-order derivation of V=S ² /2 and simplification to obtain

根据滑模控制算法，选择一般指数趋近律作为全局滑模控制律，一般指数趋近律具体公式为

η>0，其中，-kS为指数趋近项，k为趋近律，η是增益系数，由此得到(ab₁u_θ+b₂u_x)+u_c(ab₁+b₂)-ωqe^-qt＝-ηsgn(S)-kS，继而求得耦合开关控制律u_c为u_c＝-[b₂u_x+ab₁u_θ+ηsgn(S)+kS-ωqe^-qt]/(ab₁+b₂)；位置摆角全局系统的切换控制函数选用S型饱和函数，得到位置摆角全局系统控制器u＝-[ab₁u_x+b₂u_θ+ηsat(S)+kS]/(ab₁+b₂)。Since both the trolley position subsystem controller u _x and the load swing angle subsystem controller u _θ contain the reaching law control of the sliding mode variable structure, the first derivative of the Lyapunov function of the position and swing angle global system is transformed into Jane, get

According to the sliding mode control algorithm, the general exponential reaching law is selected as the global sliding mode control law. The specific formula of the general exponential reaching law is:

η>0, where -kS is the exponential approach term, k is the approach law, and η is the gain coefficient, thus obtaining (ab ₁ u _θ +b ₂ u _x )+u _c (ab ₁ +b ₂ )- ωqe ^-qt =-ηsgn(S)-kS, and then the coupling switch control law u _c is obtained as u _c =-[b ₂ u _x +ab ₁ u _θ +ηsgn(S)+kS-ωqe ^-qt ]/( ab ₁ +b ₂ ); the switching control function of the position swing angle global system selects the S-type saturation function to obtain the position swing angle global system controller u=-[ab ₁ u _x +b ₂ u _θ +ηsat(S)+kS ]/(ab ₁ +b ₂ ).

其中，x₅＝l，

l为吊车的绳长，

为吊车的绳长变化速度，u_l为台车位置子系统控制器，基于桥式吊车的数学模型公式推导得出f₃(x)＝-x₅D/m+g，b₃(x)＝1/m，其中，f₃为绳长子系统的状态变量，b₃为绳长子系统的输入变量，D为吊绳运动伸缩的阻尼系数；定义绳长跟踪误差e_l1＝x₅-l_d，其中l_d为目标绳长；对绳长子系统跟踪误差进行一阶求导，对e_l1＝x₅-l_d求导数得到

构建绳长子系统的第一层李雅普诺夫函数为V_l1＝e_l1 ²/2；对V_l1＝e_l1 ²/2进行一阶求导得到

令

在反演滑模控制算法中构建稳定项α_l＝k_le_l1，其中k_l为绳长子系统的误差稳定系数；将α_l＝k_le_l1代入

式子中得到

当e_l2＝0时，

由李雅普诺夫函数稳定性判断系统趋于稳定，但一般情况下但一般情况下由于系统处在运动过程中，状态量是不稳定的，只有到达目标位置才会稳定下来，因此当e_l2≠0，需要对绳长子系统进一步设计，定义绳长子系统的第二层李雅普诺夫函数为V_l2＝V_l1+S_l ²/2，其中，S_l＝c_le_l1+e_l2，S_l为绳长子系统滑模面，c_l为绳长子系统的误差系数；对V_l2＝V_l1+S_l ²/2进行一阶求导得到

令

构建绳长子系统控制器u_l为

其中，h_l为绳长子系统滑模面系数，β_l为绳长子系统切换增益。It should be understood that the construction of the rope length sliding mode controller based on the inversion sliding mode control theory includes: the mathematical model formula of the rope length subsystem is rewritten as

where x ₅ =l,

l is the rope length of the crane,

is the change speed of the rope length of the crane, and u _l is the controller of the trolley position subsystem. Based on the mathematical model formula of the overhead crane, f ₃ (x)=-x ₅ D/m+g, b ₃ (x) =1/m, where f ₃ is the state variable of the rope length subsystem, b ₃ is the input variable of the rope length subsystem, and D is the damping coefficient of the rope movement expansion and contraction; define the rope length tracking error e _l1 =x ₅ -l _d , where l _d is the target rope length; take the first-order derivation of the tracking error of the rope length subsystem, and obtain the derivative of e _l1 =x ₅ -ld _.

The first-level Lyapunov function for constructing the rope length subsystem is V _l1 =e _l1 ² /2; the first-order derivation of V _l1 =e _l1 ² /2 can be obtained

make

The stability term α _l =k _l e _l1 is constructed in the inversion sliding mode control algorithm, where k _l is the error stability coefficient of the rope length subsystem; substitute α _l =k _l e _l1 into

get in the formula

When e _l2 = 0,

Judging by the stability of the Lyapunov function, the system tends to be stable, but in general, because the system is in the process of motion, the state quantity is unstable, and it will stabilize only when it reaches the target position, so when e _l2 ≠ 0, the rope length subsystem needs to be further designed, and the second-layer Lyapunov function of the rope length subsystem is defined as V _l2 =V _l1 +S _l ² /2, where S _l =c _l e _l1 +e _l2 , S _l is the sliding mode surface of the rope _{length subsystem} , and c _l is the error coefficient of the rope _length subsystem ^;

make

Build the rope length subsystem controller u _l as

Among them, h _l is the sliding mode surface coefficient of the rope length subsystem, and β _l is the switching gain of the rope length subsystem.

According to the method of the embodiment of the present invention, the anti-swing effect of the embodiment of the present invention is tested through a simulation experiment, and the simulation duration is set to 15 seconds. Referring to FIG. 6, the time it takes for the trolley to move from 0 meters to a target position of 3 meters The maximum amplitude of the load swing angle is less than 0.03 radians, and it converges to 0 radians in 7 seconds. The time it takes for the sling to stretch from 1 meter to 4 meters is 1 second, and the driving force of the sling converges quickly after it is generated. To 0 Newton, the convergence time is 1 second, the crane driving force is about 45 Newton from the beginning to drive the crane motion, and then quickly converges to 0 Newton, which takes 7 seconds, and then no chattering phenomenon occurs. The embodiment of the present invention not only overcomes the problem of driving force buffeting caused by the time-varying sliding mode, but also overcomes the residual swing phenomenon caused by the inversion sliding mode, so that the control effect of the overhead crane can be optimized.

In order to further test the control effect of the control method of the embodiment of the present invention on the overhead crane, five kinds of simulation environment experiments were set up next, and the control method of the embodiment of the present invention was compared with the time-varying sliding mode control method and the inversion sliding mode control method respectively. The control effect of the overhead crane in the corresponding simulation environment, wherein the solid line represents the simulation result of the control method of the embodiment of the present invention, the square dotted line represents the simulation result of the time-varying sliding mode control method, and the short dashed line represents the inversion sliding mode control The simulation results of the method, the five simulation environment conditions are as follows:

Simulation environment 1: Under light load conditions, the target value of the trolley displacement and the target value of the rope length are set to 3 meters and 4 meters, respectively, and the weight of the trolley and the load are set to 10 kg and 5 kg, respectively. Other system model parameters not changing.

Simulation environment 2: Under heavy load conditions, set the target value of trolley displacement and rope length to 3 meters and 4 meters, respectively, set the trolley mass and load mass to 500 kg and 100 kg, and other system model parameters not changing.

Simulation environment 3: Under the condition of large target value, set the target value of trolley displacement and rope length to 10 meters and 6 meters, respectively, set the trolley mass and load mass to 500 kg and 100 kg, respectively. Other system models Parameters do not change.

Simulation environment 4: Under the condition of changing the system model, the target value of the trolley displacement and the target value of the rope length are set to 10 meters and 6 meters respectively, and the weight of the trolley and the load are set to 500 kg and 100 kg respectively. The model parameters of the bridge crane system are changed, the air resistance coefficient of the crane is changed from 0.5 to 0.2, the air resistance coefficient of the load is changed from 0.5 to 0.6, and the friction coefficient of the crane is changed from 0.5 to 0.3.

Simulation environment 5: Under the condition of external interference, set the target value of trolley displacement and rope length to 10 meters and 6 meters, respectively, set the trolley mass and load mass to 500 kg and 100 kg, respectively, and the air resistance of the crane The coefficient is changed from 0.5 to 0.2, the load air resistance coefficient is changed from 0.5 to 0.6, the friction coefficient of the crane is changed from 0.5 to 0.3, and the overhead crane moves from the initial position to the target position. 1 second of force makes it swing from an angle of 0.15 radians.

Referring to FIG. 7 , the experimental results of simulation environment 1 are: in the simulation results using the control method of the embodiment of the present invention, the amplitude of the load swing angle is less than 0.031 radians, and there is no residual swing after convergence, and the simulation results of the time-varying sliding mode control method are: The load swing amplitude is large, and the simulation result of the inversion sliding mode control method is that the load swing angle has residual swing; in terms of the position control performance of the trolley, the embodiment of the present invention reaches the index position within 7 seconds and has no swing, while the inversion sliding mode control method The simulation result of the method has a slight swing; in terms of rope length control, it takes 1 second to extend the suspending rope from 1 meter to 4 meters in the embodiment of the present invention, while the time-varying sliding mode control method takes 4 seconds. Control effect is better. The above results show that the control method of the embodiment of the present invention compared with the other two sliding mode control algorithms in the simulation environment 1, the load swing angle amplitude is smaller, the stability is achieved faster, and the control effect is better.

Referring to FIG. 8 , the experimental results of simulation environment 2 are: when the mass of the trolley and the mass of the load are greatly increased, in the simulation result using the control method of the embodiment of the present invention, the amplitude of the load swing angle is less than 0.03 radian, and there is no residual swing after convergence, and The simulation result of the time-varying sliding mode control method is that the load swing is larger, and the simulation result of the inversion sliding mode control method is that the load swing is larger and has residual swing. The two control methods reach the specified position faster, and there is no swing; in terms of rope length control, it takes 1 second to extend the suspension rope from 1 meter to 4 meters in the embodiment of the present invention, while the time-varying sliding mode control method takes 4 seconds. Second, the control effect of the embodiment of the present invention is better. The above results show that the control method of the embodiment of the present invention compared with the other two sliding mode control algorithms in simulation environment 2, the load swing angle amplitude is smaller, the stability is achieved faster, and the control effect is better.

Referring to FIG. 9 , the experimental results of simulation environment 3 are: when changing the target value of the trolley displacement and the target value of the rope length, the simulation result using the control method of the embodiment of the present invention is that the load swing angle is 0.1 radian, and there is no residual swing after convergence, and The amplitude of the load swing angle of the time-varying sliding mode control exceeds 0.15 radians, the amplitude of the load swing angle of the inversion sliding mode control exceeds 0.1 radians, and there is residual swing after convergence. The above results show that the control method of the embodiment of the present invention is compared in simulation environment 3 For the other two sliding mode control algorithms, the load swing angle amplitude is smaller, the stability is achieved faster, and the control effect is better.

Referring to FIG. 10, the experimental results of the simulation environment 4 are: when changing the air resistance coefficient and friction coefficient on the two-dimensional bridge crane system model, the simulation result using the control method of the embodiment of the present invention is that the load swing angle is 0.1 radian, and the convergence Afterwards, there is no residual swing, but the amplitude of the load swing angle of the time-varying sliding mode control exceeds 0.15 radian, the amplitude of the load swing angle of the inversion sliding mode control exceeds 0.1 radian, and there is residual swing after convergence. The above results show that the control method of the embodiment of the present invention Comparing the other two sliding mode control algorithms in the simulation environment 4, the load swing angle amplitude is smaller, the stability is achieved faster, and the control effect is better.

Referring to FIG. 11 , the experimental results of the simulation environment 5 are: under the condition of applying external interference, the overshoot of the trolley position recovery using the control method of the embodiment of the present invention is smaller than that of the other two sliding mode control algorithms, and the output suspending rope driving force is obvious. Less than the other two sliding mode control algorithms, the rope driving force is close to zero. The above results show that the control method of the embodiment of the present invention is superior to the other two sliding mode control algorithms in terms of control torque output compared with the other two sliding mode control algorithms in the simulation environment 5.

The embodiment of the present invention further provides an anti-swing device for bridge cranes based on a sliding surface. , rope length sliding mode controller construction unit 1200 , acquisition unit 1300 , input unit 1400 and output unit 1500 .

Among them, the position swing angle sliding mode controller construction unit 1100 is used to construct the mathematical model of the position swing angle system of the overhead crane, and the trolley position subsystem controller and the load swing angle subsystem controller are constructed based on the inversion sliding mode control theory, The trolley position subsystem controller and the load swing angle subsystem controller are combined to construct a position swing angle global sliding mode surface, and a time-varying function is introduced into the position swing angle global sliding mode surface to construct a position swing angle sliding mode. model controller;

The rope length sliding mode controller construction unit 1200 is used for constructing a mathematical model of the rope length system of the overhead crane, and constructing the rope length sliding mode controller based on the inversion sliding mode control theory;

an acquisition unit 1300, configured to acquire the trolley position parameter, the load swing angle parameter, the time parameter and the rope length parameter;

an input unit 1400, configured to input the trolley position parameter, load swing angle parameter and time parameter into the position swing angle sliding mode controller, and input the rope length parameter into the rope length sliding mode controller;

The output unit 1500 is used for the position swing angle sliding mode controller and the rope length sliding mode controller to output the horizontal traction force and the rope traction force of the trolley respectively.

It should be noted that, because the anti-swing device for bridge suspension based on sliding surface in this embodiment and the above-mentioned method for anti-swinging bridge suspension based on sliding surface are based on the same inventive concept, therefore, in the method embodiment Corresponding contents of , are also applicable to the embodiments of the device, and will not be described in detail here.

Embodiments of the present invention also provide a sliding surface-based bridge suspension anti-swing device 2000 , which can be any type of smart terminal, such as a mobile phone, a tablet computer, a personal computer, and the like.

Specifically, the sliding surface-based bridge suspension anti-swing device 2000 includes: one or more control processors 2010 and a memory 2020, and one control processor 2010 is taken as an example in FIG. 13 .

The control processor 2010 and the memory 2020 may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 13 .

As a non-transitory computer-readable storage medium, the memory 2020 can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the sliding surface-based bridge crane anti-sway in the embodiment of the present invention The program instructions/modules corresponding to the method, for example, the position swing angle sliding mode controller construction unit 1100 , the rope length sliding mode controller construction unit 1200 , the acquisition unit 1300 , the input unit 1400 and the output unit 1500 shown in FIG. 12 . The control processor 2010 executes various functional applications and data processing of the sliding surface-based bridge suspension anti-swing device 1000 by running the non-transitory software programs, instructions and modules stored in the memory 2020, that is, to implement the above method embodiments The anti-sway method of bridge suspension based on sliding surface.

The memory 2020 may include a storage program area and a storage data area, wherein the storage program area may store an operating system and an application program required by at least one function; the storage data area may store the usage of the bridge suspension anti-sway device 1000 based on the sliding surface created data, etc. Additionally, memory 2020 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 2020 may optionally include a memory remotely located with respect to the control processor 2010, and these remote memories may be connected to the sliding surface-based bridge suspension anti-swing device 2000 through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The one or more modules are stored in the memory 2020, and when executed by the one or more control processors 2010, perform the sliding surface-based anti-swing method for a bridge suspension in the above method embodiments, for example, The functions of the units 1100 - 1500 in FIG. 12 are implemented by performing the above-described method steps S11 to S15 in FIG. 1 .

Embodiments of the present invention further provide a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more control processors, for example, as shown in FIG. 13 . Executed by one control processor 2010 of the above-mentioned one or more control processors 2010, the above-mentioned one or more control processors 2010 can execute the sliding-form surface-based anti-swing method for bridge suspensions in the above-mentioned method embodiments, for example, perform the above-described method step S11 in FIG. 1 To S15, the functions of the units 1100-1500 in FIG. 12 are implemented.

The apparatus embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform. Those skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and the program can be executed when the program is executed. , the flow of the above-mentioned method embodiments may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ReadOnly Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

The preferred implementation of the present invention has been specifically described above, but the present invention is not limited to the above-mentioned embodiments. Those skilled in the art can also make various equivalent deformations or replacements on the premise of not violating the spirit of the present invention. These Equivalent modifications or substitutions are included within the scope defined by the claims of the present application.

Claims (7)

1. A bridge crane anti-swing method based on a sliding mode surface is characterized by comprising the following steps:

constructing a mathematical model of a position swing angle system of a bridge crane, constructing a trolley position subsystem controller and a load swing angle subsystem controller based on an inverse sliding mode control theory, combining the trolley position subsystem controller and the load swing angle subsystem controller to construct a position swing angle global sliding mode surface, introducing a time-varying function into the position swing angle global sliding mode surface, and constructing a position swing angle sliding mode controller;

constructing a rope length system mathematical model of the bridge crane, and constructing a rope length sliding mode controller based on an inverse sliding mode control theory;

acquiring a trolley position parameter, a load swing angle parameter, a time parameter and a rope length parameter;

inputting the trolley position parameter, the load swing angle parameter and the time parameter into the position swing angle sliding mode controller, and inputting the rope length parameter into the rope length sliding mode controller;

the position swing angle sliding mode controller and the rope length sliding mode controller respectively output trolley horizontal traction force and rope-following traction force;

wherein, the trolley position subsystem controller constructed based on the inversion sliding mode control theory comprises: constructing a first layer of Lyapunov function of the trolley position subsystem;

performing first-order derivation on a first-layer Lyapunov function of the trolley position subsystem;

if the first derivative of the first-layer Lyapunov function of the trolley position subsystem is not more than 0, solving a trolley position subsystem controller;

if the first derivative of the first layer of the Lyapunov function of the trolley position subsystem is larger than 0, constructing a second layer of the Lyapunov function of the trolley position subsystem;

performing first-order derivation on a Lyapunov function of a second layer trolley position subsystem of the trolley position subsystem;

and (4) enabling a first derivative of a Lyapunov function of a second layer of trolley position subsystem of the trolley position subsystem to be not more than zero, and solving the controller of the trolley position subsystem.

2. The method for preventing the swing of the bridge crane based on the sliding mode surface according to claim 1, is characterized in that: the load swing angle subsystem controller constructed based on the inversion sliding mode control theory comprises the following steps: constructing a first-layer Lyapunov function of a load swing angle subsystem;

carrying out first-order derivation on a first-layer Lyapunov function of the load swing angle subsystem;

if the first derivative of the first-layer Lyapunov function of the load swing angle subsystem is not more than 0, obtaining a load swing angle subsystem controller;

if the first-order derivative of the first-layer Lyapunov function of the load swing angle subsystem is larger than 0, constructing a second-layer Lyapunov function of the load swing angle subsystem;

performing first-order derivation on a second-layer Lyapunov function of the load swing angle subsystem;

and (4) enabling a first derivative of a second-layer Lyapunov function of the load swing angle subsystem to be not more than zero, and solving the load swing angle subsystem controller.

3. The method for preventing the swing of the bridge crane based on the sliding mode surface according to claim 1, is characterized in that: the trolley position subsystem controller and the load swing angle subsystem controller are combined to construct a position swing angle global sliding mode surface, a time-varying function is introduced into the position swing angle global sliding mode surface, and the construction of the position swing angle sliding mode controller comprises the following steps:

constructing a position swing angle global system sliding mode control function;

constructing a position swing angle global system time-varying sliding mode surface;

constructing a Lyapunov function of a position swing angle global system;

carrying out first-order derivation on a Lyapunov function of a position swing angle global system;

constructing a general index approach law to obtain a coupling switch control law of sliding mode control of a position swing angle global system;

and constructing an S-shaped saturation function as a position swing angle global system sliding mode control function to obtain a position swing angle sliding mode controller.

4. The method for preventing the swing of the bridge crane based on the sliding mode surface according to claim 1, is characterized in that: the rope length sliding mode controller constructed based on the inversion sliding mode control theory comprises the following steps:

constructing a first layer of Lyapunov function of the rope length system;

performing first-order derivation on a first-layer Lyapunov function of the rope length system;

if the first-order derivative of the first-layer Lyapunov function of the rope length subsystem is not larger than 0, the rope length subsystem controller is obtained;

if the first derivative of the first layer of the Lyapunov function of the cord length system is greater than 0,

constructing a second layer of Lyapunov function of the rope length system;

performing first-order derivation on a second layer of Lyapunov function of the rope length system;

and (4) making the first derivative of the second layer of the Lyapunov function of the rope length subsystem not greater than zero, and obtaining the rope length subsystem controller.

5. The utility model provides a device is prevented putting by bridge crane based on slip form face which characterized in that: the method comprises the following steps:

the system comprises a position swing angle sliding mode controller construction unit, a position swing angle sliding mode controller, a trolley position subsystem controller, a load swing angle subsystem controller, a position swing angle sliding mode controller and a control unit, wherein the position swing angle sliding mode controller construction unit is used for constructing a mathematical model of a position swing angle system of a bridge crane, constructing a trolley position subsystem controller and the load swing angle subsystem controller based on an inversion sliding mode control theory, combining the trolley position subsystem controller and the load swing angle subsystem controller to construct a position swing angle global sliding mode surface, introducing a time-varying;

the rope length sliding mode controller building unit is used for building a rope length system mathematical model of the bridge crane and building a rope length sliding mode controller based on an inverse sliding mode control theory;

the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a trolley position parameter, a load swing angle parameter, a time parameter and a rope length parameter;

the input unit is used for inputting the trolley position parameter, the load swing angle parameter and the time parameter into the position swing angle sliding mode controller and inputting the rope length parameter into the rope length sliding mode controller;

and the output unit is used for outputting the horizontal traction force and the traction force along the rope of the trolley by the position swing angle sliding mode controller and the rope length sliding mode controller respectively.

6. The utility model provides a bridge crane prevents putting equipment based on slip form face which characterized in that: comprises at least one control processor and a memory for communicative connection with the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the sliding mode surface based anti-sway method of any of claims 1-4.

7. A computer-readable storage medium characterized by: the computer-readable storage medium stores computer-executable instructions for causing a computer to perform the sliding-mode surface-based anti-sway method of a bridge crane of any one of claims 1-4.

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