控制理论(社会学)
变结构控制
反馈线性化
补偿(心理学)
滑模控制
变量(数学)
线性化
模式(计算机接口)
变结构系统
控制(管理)
控制工程
工程类
计算机科学
非线性系统
数学
物理
心理学
量子力学
操作系统
数学分析
人工智能
精神分析
作者
Fengshuo Zhao,Yuguang Zhong,Zeyu Fu
标识
DOI:10.1016/j.oceaneng.2024.117962
摘要
This study presents a novel electric-hydraulic servo system with an active–passive lift compensation feature designed for a lifting crane used in offshore operations. Additionally, the study explores the control methodology of this system. Firstly, the principle of the combined active–passive lift-compensated system is explained, and the mathematical model of the response is established. To eliminate the strong nonlinearities inherent and mismatched term, the method of exact input-state linearization is employed. For observing the uncertain disturbance terms in the model, a new type of expanded state sliding mode observer(ESSMO) is designed. Subsequently, a control strategy of sliding mode with variable structure is designed using the method of hyperbolic convergence law. The stability of the controller is proved based on Lyapunov's stability theorem. Finally, the control method is simulated and analyzed under different working conditions and compared with traditional PID control and sliding mode control strategies directly designed by the nonlinear model. The simulation results demonstrate that the feedback linearized hyperbolic convergence law sliding mode control strategy not only reduces dependence on exact parameters of the original system but also exhibits strong robustness and suppression of model nonlinearities and parameter uncertainty.
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