Title

基于遗传算法的三维起重机滑模控制方法研究

Translated Titles

Research on Genetic Algorithm Based Sliding Mode Control Method of three-dimensional Cranes

Authors

罗俊尧(Jun-Yao Luo);陈志梅(Zhi-Mei Chen);孟文俊(Wen-Jun Meng)

Key Words

起重机 ; 滑模控制 ; 遗传算法 ; 研究 ; crane ; sliding mode control ; genetic algorithm ; research

PublicationName

起重運輸機械

Volume or Term/Year and Month of Publication

2011卷9期(2011 / 09 / 20)

Page #

4 - 7

Content Language

簡體中文

Chinese Abstract

针对由5个非线性2阶常微分方程构成的三维起重机模型,采用滑模变结构方法设计控制器,从整体上同时对起重机大车、小车的位置和负载摆角进行控制。并利用遗传算法对其参数进行优化,减小了系统的抖振,实现了系统的精确定位和防摆。仿真表明了该控制方法的有效性。

English Abstract

For the three-dimensional crane model comprising of five non-linear 2-order ordinary differential equations, the paper perform an overall control on the positions of the trolley, gantry and load-swing angle of the crane with the sliding mode variable structure method. Moreover, the paper also uses the genetic algorithm to optimize its parameters and to reduce the buffeting, so that the precise positioning and anti-swing functions are realized. And the simulation shows the effectiveness of the control method.

Topic Category 工程學 > 機械工程