A Novel Sliding Mode Control Method for Double Pendulum Crane.

As for the anti-pendulum positioning problem of distributing quality double pendulum bridge crane system, this paper designs a New Time-Varying Sliding Mode Control (NTVSMC). To be specific, first of all, the dynamic equation is established based on the distributed mass model of the double pendulum bridge crane. Then, a time-varying parameter is designed to realize the dynamic adjustment of sliding mode surface and enhance the adjustment ability of the sliding mode controller. Moreover, the asymptotic stability of the system is proved by the Lyapunov method. Finally, numerical simulation is used to verify that the proposed NTVSMC has good control performance and strong robustness against external interference. Simulation experiments show that comparing with conventional CSMC, the control method proposed in this paper can effectively reduce the driving force of the trolley, ensure the rapid and accurate positioning of the trolley and effectively restrain the load swing angle within 0.6 degrees or even less, with almost no residual swing angle.