Research of Adaptive Backstepping Control of Crane Hoisting System

Relationship of all parts of crane hoisting system was analyzed and mathematic model of the system was established, so as to effectively unify moving states of motor and loads of the system. A controller of load position of crane hoisting system based on adaptive Backstepping strategy was designed on the basis of the model, which takes load position as a control variable. The simulation result showed that the controller not only has faster responding speed and smaller tracking error, but also restrains influence of load wave and parameter perturbation effectively with good robustness.