面向大尺寸货物运送的吊车控制方法综述

随着现代化工业和基础设施建设的飞速发展，面向大尺寸货物运送的吊车系统以其高负载能力、低成本的显著优势广泛应用于集装箱搬运、风机安装、飞机机翼机身移动、水轮发电机转子安装、海上钻井平台搭建等诸多重要领域。然而，相对于传统的点质量单摆吊车系统，面向大尺寸货物运送的吊车系统具有更高的欠驱动程度、更强的状态耦合性和更加复杂的非线性，给大尺寸货物高效、安全的运送控制带来严峻挑战。本文首先简单阐述了面向大尺寸货物运送吊车系统不同吊装形式的建模、优势和缺点；然后，详细介绍了点质量双摆吊车系统、分布式质量双摆吊车系统和多吊车协同运送系统控制的研究现状；最后，对面向大尺寸货物运送吊车系统控制的研究现状进行概括，并对可能存在的关键问题和未来的研究方向进行了讨论和展望。

Overview of crane control methods for large-size cargo transportation

With the rapid development of modern industry and infrastructure construction, crane systems for large-size cargo transportation are widely used in container handling, wind turbine installation, aircraft wing and fuselage movement, rotor installation of water turbogenerator, offshore drilling platform construction, and many other important fields due to their high carrying capacity and low costs. However, compared with the traditional point mass single pendulum crane system, the crane systems for large-size cargo transportation have a higher degree of underactuation, stronger state couplings, and more complex nonlinearity, which bring severe challenges to the high-efficiency and safe transportation control of large-size cargos. In this paper, the modeling, advantages and disadvantages of different hoisting forms of crane systems for large-size cargo transportation are briefly described. Then, the research status of point mass double pendulum crane systems, distributed mass double pendulum crane systems, and multi-crane cooperative transportation systems are introduced in detail. Finally, the research status of crane control systems for large-size cargo transportation is summarized, and the possible key problems and future research directions are discussed and prospected.