预制装配式架桥机的起重小车复合滑模同步控制

预制装配式架桥机对预制墩柱架设过程中存在精度低、效率低等问题，针对这一问题基于时变滑模扰动观测器，提出变增益移动滑模控制方法。首先，通过分析架桥机起重小车架设墩柱的运动过程，得出了起重小车起升机构与走行机构的同步运动关系式，然后设计了一种结合交叉耦合控制策略的移动滑模控制器，提升了系统的鲁棒性；其次，设计了变增益趋近律，加快了误差收敛速度并抑制了抖振；同时，为了使架桥机起重小车适应不同工况下的扰动，设计了一种新的时变滑模扰动观测器，从而对产生扰动项进行实时的估计和补偿。Lyapunov理论可以证明上述控制器具有收敛性，数值仿真则可以表明，该控制方法对于提高起重小车的架设精度与速度是有效的。

Composite Sliding Mode Synchronous Control of Crane Trolley of Prefabricated Bridge Erector

Based on the basic model of time-varying sliding mode disturbance observer, a variable gain moving sliding mode control method is proposed to solve the problems of low precision and low efficiency in the process of erecting precast prefabricated pier columns by prefabricated assembling bridge erecting machine. First of all, through analyzing the movement process of the bridge erector''s lifting trolley erecting the pier column, the Synchronous Movement relationship between the lifting trolley and the traveling crane is obtained, secondly, a moving sliding mode controller with cross-coupled control strategy is designed to improve the robustness of the system. Secondly, a variable gain reaching law is designed to speed up error convergence and reduce chattering, a new time-varying sliding mode disturbance observer is designed in order to adapt the trolley of bridge-erecting machine to the disturbance under different working conditions. Lyapunov theory can prove the convergence of the above controller, and numerical simulation shows that the control method is effective for improving the erecting precision and speed of the crane trolley.