陈志梅,孙辉,张井岗,邵雪卷

• 1:太原科技大学电子信息工程学院

摘要(Abstract)：

针对塔式起重机防摆控制系统,考虑塔机的回转运动和变幅运动,提出了分层分数阶滑模定位和防摆控制新方法。把塔式起重机防摆控制系统分为小车位移控制系统和负载摆角控制系统两个子系统,采用两层分数阶滑模面,分别设计分数阶滑模控制器控制臂架小车的位移、起重臂的回转角及负载的摆角。与传统的整数阶滑模控制方法相比,加快了系统的响应速度,增强了系统的鲁棒性,改善了系统的控制性能,有效保证臂架小车精确定位和负载的消摆。仿真结果也表明分数阶滑模控制是提高此系统控制性能的一种更有效的方法。

关键词(KeyWords)： 塔式起重机;回转;变幅;分数阶;分层滑模控制

Abstract:

Keywords:

基金项目(Foundation): 山西省自然科学基金(2014011020-2,2014011020-1);; 山西省研究生教改项目(20142058);; 太原科技大学教改项目(20133014)

作者(Author): 陈志梅,孙辉,张井岗,邵雪卷

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