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Adaptive Backstepping Control of Crane Hoisting System

With the continuous progress of the society, requirement of the position control precision for the crane is becoming higher and higher. The running laws of the crane are analyzed and the electromechanical coupling model is established in this paper, thereby the state of the motor and the load's motion are unified effectively. Based on this model, the adaptive backstepping strategy is designed by regarding the load's position as the control variable; the adaptive law is also designed in order to adjust the value of system parameters and external disturbances online. The simulation results show that the system not only have faster respond speed and smaller track error, but also restrain the influence of the load wave and parameter perturbation effectively.