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To solve the problem that the wire rope swing angle is too large during the load lifting and lowering process of the bridge crane, a fuzzy layered sliding mode control method was proposed with the single pendulum model of the bridge crane as the research object. The method firstly establishes the bridge crane single pendulum model system, designs the two-layer sliding mode surface joint control based on traditional sliding mode control, combines the layered sliding mode surface with fuzzy control to create the controller, proves the Lyapunov stability of the closed-loop system of the bridge crane under the method through theory and carries out simulation experiments. The simulation results show that compared with the LQR controller and the multi-sliding mode controller, the trolley arrives at the desired position in 68% less time, and the maximum swing angle of the load is reduced by 15%, which achieves a good anti-swing effect.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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