【摘要】 作为一类典型的欠驱动系统吊车系统,在重工业企业中有着广泛的应用,目前国内学者对其进行了多种控制算法的研究,但多停留在理论仿真阶段。现就国内前沿的吊车控制算法——分层滑模控制算法,在dSPACE的实时仿真平台下进行了验证,结果表明该算法是有效可行的。更多还原

【Abstract】 As a typical under-actuated system,crane was widely used in heavy industry.Many national scholars researched on it for kinds of control algorithms,but most of that were stayed in simulation section.The paper introduces a advanced crane control algorithms——hierarchical slide-mode control algorithm,and proves it successfully under digital signal processing and control engineering(dSPACE)real time simulation platform.更多还原