Sequential modeling and control of the dynamic load in crane lifter

In the view of the situation that the crane hoisting system has the different running pattern during the different motion stage, electromechanical coupling multi-stage mathematical model for describing the crane running law of the different running phase is deduced considering the factors of the mechanic and control. The dynamic variable structure sliding model controllers are designed for each movement stage and the multi-model change control algorithm is given. The simulation results show that the control system can track rapidly the speed reference curve or the position reference curve, so the exact location of the crane hoisting is realized.