Bridge crane anti-swing method based on first-order dynamic sliding mode variable structure

The invention discloses a bridge crane anti-swing method based on a first-order dynamic sliding mode variable structure. A two-dimensional bridge type crane system model and a crane system control model are constructed respectively; differential processing is carried out on two sliding mode surfaces including a dynamic swing angle change and a dynamic rope length change to obtain a dynamic crane position sliding mode surface s1 and a dynamic rope length sliding mode surface s2; and displacement x, a length l and a swing angle theta in the two-dimensional bridge type crane system model and thedynamic crane position sliding mode surface s1 and the dynamic rope length sliding mode surface s2 in the crane system control model are combined to obtain a relational expression between a horizontaltraction force f1, an along-rope traction force f2 and the displacement x, the length l, and the swing angle theta. Because the displacement x, the length l, and the swing angle theta are associatedwith first derivatives of t