FIRST-ORDER DYNAMIC SLIDING MODE VARIABLE STRUCTURE-BASED BRIDGE CRANE ANTI-SWING METHOD

A first-order dynamic sliding mode variable structure-based bridge crane anti-swing method constructs a two-dimensional bridge crane system model and a crane system control model respectively, and then obtains a crane position dynamic sliding mode surface s1 and a rope length dynamic sliding mode surface s2 respectively by performing differential processing on the two sliding mode surfaces containing swing angle dynamic change and rope length dynamic change, and combines the displacement x, the length l and the swing angle θ in the two-dimensional bridge crane system model with the crane position dynamic sliding mode surface s1 and the rope length dynamic sliding mode surface s2 in the crane system control model, so as to obtain the relationship between the horizontal traction force f1, the along-rope traction force f2, and the displacement x, the length 1, the swing angle θ. Since the displacement x, the length 1 and the swing angle θ are related to the first derivative of the horizontal traction force f1 an