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Robust Sliding Mode Control of a Rotary Hook

机译：旋转挂钩的鲁棒滑模控制

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摘要

Nowadays, boom cranes are highly automated machines with which numerous researches have been devoted to designing and implementing automatic controllers to suppress the residual vibrations during the payload transloading process. As an essential part of the boom crane system, rotary hook device plays an important role in adjusting the skew angle of the payload to match the skew angle of vessels or container trucks. However, at present, the rotary hook is still manually controlled by highly experienced and skilled crane operators because of its under-actuated characteristic. Therefore, in this paper, a robust Sliding Mode Controller (SMC) will be developed for an uncertain rotary hook system which can automatically drive the payload to desired angle whilst suppressing the residual skew oscillation caused by flexible ropes. The parametric uncertainties presenting in the system parameters will be thoroughly considered in the SMC design process. By conducting the sliding mode analysis, the constraints on the controller gains are formulated to ensure the robust stability of the closed-loop system. Moreover, a conventional Linear Quadratic Integral (LQI) controller will be introduced as a benchmark to compare with the robust SMC. All of conclusions will be drawn from both simulation and experimental results.
机译：如今，动臂起重机是高度自动化的机器，已进行了大量研究，以设计和实现自动控制器，以抑制有效载荷转移过程中的残留振动。作为动臂起重机系统的重要组成部分，旋转吊钩装置在调节有效载荷的偏角以匹配船只或集装箱卡车的偏角中起着重要作用。然而，目前，由于钩钩的致动特性不足，仍然由经验丰富的熟练起重机操作员手动控制。因此，在本文中，将为不确定的旋梭系统开发一种鲁棒的滑模控制器（SMC），该系统可以自动将有效载荷驱动到所需角度，同时抑制由柔性绳索引起的残余偏斜振荡。系统参数中存在的参数不确定性将在SMC设计过程中进行全面考虑。通过进行滑模分析，制定了控制器增益的约束条件，以确保闭环系统的鲁棒稳定性。此外，将引入常规线性二次积分（LQI）控制器作为基准，以与强大的SMC进行比较。所有结论都将从仿真和实验结果中得出。

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