Abstract: The lifting operation of floating overhead crane was easily affected by the movement of mobile base, which belonged to a kind of mobile base overhead crane. In order to transport the load to the specified position accurately, quickly and with small swing, a swing elimination tracking control method of mobile base overhead crane based on sliding mode-active disturbance rejection control (SM-ADRC) was studied. Firstly, the dynamic model of mobile base overhead crane system was deduced. Two linear extended state observers (LESO) were constructed, and a robust sliding mode active disturbance rejection controller with the functions of trolley trajectory tracking and load swing elimination was designed, which could well adapt to the strong disturbance caused by the combined motion of mobile base and crane. Then, the stability of the controller was proved by Lyapunov principal theory. Finally, the control effect of the proposed method was verified by numerical simulation experiments. The results show that comparing with the ordinary sliding mode control (SMC) method, the sliding mode active disturbance rejection control method reduces the control time of the trolley position by 3s and the control time of the load swing angle by 10s. The control accuracy and robustness are also improved comparing with the ordinary sliding mode control method, which meets the requirements of the floating bridge crane system for the control performance.

Key words:  mobile base crane; bridge crane;anti-swing control; sliding mode-active disturbance rejection control (SM-ADRC); linear extended state observers (LESO)

DU Wen-zheng, ZHANG Quan-mao, HE Zhen-xin. Anti-swing tracking control of mobile base overhead crane based on sliding mode active disturbance rejection［J］.Journal of Mechanical & Electrical Engineering, 2022,39(2):150-157.