A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters

During the transference of a ladle by the casting crane, the antiswing control of the ladle is particularly difficult due to liquid sloshing, so we designed a model based on a radial spring damper. During the ladle swings, the centrifugal force causes the spring damper to move radially, thereby generating a Coriolis force that inhibits the sloshing of the liquid. In addition, a sloshing analysis of the liquid in the ladle is carried out, and a double-pendulum casting crane model based on viscous damping and radial spring damper is established. On the basis of this model, the Enhanced Coupled Adaptive Sliding Mode Control (ECASMC) method is proposed. By introducing an enhanced coupling variable and constructing a new coupling deviation signal, we enhance the relationship among state quantities. Then, a new type of sliding surface is designed based on the enhanced coupling deviation signal, and adaptive technology is used to adjust the sliding mode parameters, which enhances the system's robustness for system parameter variations and external disturbances. Using LaSalle's invariance principle and Lyapunov theorem, we prove that the casting crane system is asymptotically stable near the desired equilibrium point. The simulation results verify the effectiveness and superior control performance of the proposed method even in the presence of uncertainties.

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“…Experiment 1. For literature completeness, the expression of the CSMC controller [32] and VP-TVSMC controller [3] is provided as follows:…”

Section: Comparison With Existing Methodsmentioning

confidence: 99%

“…At present, few scholars at home and abroad consider the deviation of the liquid centroid when conducting research on the control of casting cranes. erefore, the establishment of a casting crane model and controller design is di cult and challenging [2][3][4].…”

Section: Introductionmentioning

confidence: 99%

An Enhanced Coupling Adaptive Sliding Mode Control Method for Casting Cranes Based on Radial Spring Damping

Wang

Tan

Zhang

et al. 2022

Mathematical Problems in Engineering

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“…Using the sliding surface or variables in the SMC can also reduce the reaching phase of the control system. The sliding surface was defined to pass the initial state variable at the initial time [21], [23], [24]. Improvement of the convergence rate can be also improved simply through the reaching law [15], [16], [28]- [30].…”

Section: Introductionmentioning

confidence: 99%

Time-varying sliding mode controller for heat exchanger with dragonfly algorithm

Boonyaprapasorn

Kuntanapreeda

Ngiamsunthorn

et al. 2023

IJECE

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<span lang="EN-US">This article proposes the design of a sliding mode controller with a time-varying sliding surface for the plate heat exchanger. A time-varying sliding mode controller (TVSMC) combines the benefit of the control system’s robustness and convergence rate. Using Lyapunov stability theory, the stability of the designed controller is proved. In addition, the controller parameters of the designed controller are specified optimally via the dragonfly algorithm (DA). The input constraint’s effect is considered in the controller design process by applying the concept of the auxiliary system. The bounded disturbances are applied to investigate the robustness of the proposed techniques. Moreover, the quasi-sliding mode controller (QSMC) is developed as a benchmark to evaluate the convergence behavior of the proposed TVSMC technique. The simulation results demonstrate the proposed TVSMC with the optimal parameters provided by the DA algorithm (TVSMC+DA) can regulate the temperature to the desired level under bounded disturbances. When compared to the QSMC method, the TVSMC+DA performs significantly faster convergence speed and greater reduction in chattering occurrence. The results clearly indicate that the proposed controller can enhance convergence properties while being robust to disturbances.</span>

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“…The performance of the proposed approach is validated both in theory and in computer simulations. In [7] the problem of controlling a bridge crane is analyzed. A time varying sliding mode controller is designed, in which, similarly to the approach in this paper, the sliding hyperplane is chosen to pass through the initial state, which allows to ensure robustness from the start of the control process.…”

Section: Introductionmentioning

confidence: 99%

IAE Minimization in Sliding Mode Control With Input and Velocity Constraints

Pietrala¹,

Leśniewski²,

Bartoszewicz³

2022

IEEE Access

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In this work an optimal sliding mode controller for second order, nonlinear systems is proposed. First, the sliding surface is selected to obtain finite time convergence to the desired state. Moreover, to ensure robustness with respect to unknown external disturbances and model uncertainties, the surface is time-varying and at the start of the control process it intersects the point, whose coordinates are defined by the initial state. Thus, the existence of the sliding mode is ensured for the whole control process. Next, admissible values of the hyperplane parameters, that ensure satisfaction of velocity and/or control signal constraints are determined. Lastly, optimal values of these parameters, in terms of integral absolute error (IAE) are calculated. The main motivation of this paper was to obtain the good dynamical performance of the system and robustness by eliminating the reaching phase, overcoming the external, unknown disturbances and obtaining a finite-time convergence of the representative point to the desired state. The other main issue was to include some key limitations such as control signal and velocity constraints in order to facilitate the practical application of this strategy.

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A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters

Cited by 27 publications

References 27 publications

An Enhanced Coupling Adaptive Sliding Mode Control Method for Casting Cranes Based on Radial Spring Damping

An Enhanced Coupling Adaptive Sliding Mode Control Method for Casting Cranes Based on Radial Spring Damping

Time-varying sliding mode controller for heat exchanger with dragonfly algorithm

IAE Minimization in Sliding Mode Control With Input and Velocity Constraints

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