为解决桥式起重机在负载升降过程中出现钢丝绳摆角太大问题，提出了一种以桥式起重机单摆模型为研究对象的模糊分层滑模控制方法。该方法首先建立了桥式起重机单摆模型系统，在传统滑模控制的基础上，设计两层滑模面联合控制，将分层滑模面与模糊控制相结合设计了控制器，通过理论证明了该方法下桥式起重机闭环系统的李雅普诺夫稳定性（Lyapunov），并进行了仿真实验。仿真结果表明，对比线性二次调节控制器（linear quadratic regulator, LQR）和多滑模控制器（multiple sliding mode control, MSMC），小车到达期望位置时间节省了68%，负载最大摆角降低了15%，达到良好的防摆效果。

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.