Sliding mode variable structure control of crane lifter

By analyzing the correlative relationships of the motor and the load of a crane lifter, a mathematics model for a crane system is established. Based on this model, a speed sliding mode controller is designed by regarding the load speed as the control object. To guarantee the higher running performance of the system, a rotor flux sliding mode controller and a rotor flux observer are designed The running speed is also planned and designed according to different operating conditions. A simulation model of the control system is presented in Matlab/Simulink environment. The simulation results show the control system has satisfied dynamic performance and strong robustness to disturbances.