基于扩张状态观测器的双摆吊车分层滑模控制OA北大核心CSTPCD

During the oversized cargo transportation process,the crane system may act like a double pendulum system,which would also be easily affected by external disturbances and result in greater control difficulty.To deal with this control problem of the double pendulum crane system,a hierarchical sliding mode control method based on an extended state observer is proposed in this work to attain fast and smooth payload transportation while effectively suppressing the swing of the payload and the hook.Particularly,the state variables and disturbance terms are estimated by the designed extended state observer,and afterward,a hierarchical sliding mode controller is proposed by using the state error signals and the estimated signals of the observer.Moreover,the disturbance compensation term is contained in the designed sliding surface to further enhance the anti-disturbance ability of the system.In comparison to current methods by simula-tion tests,the proposed method can bring suitable control performance regarding working efficiency and robustness.