绳长时变情况下轮胎式集装箱起重机非线性防摆控制算法

四绳轮胎式集装箱起重机由于自身的动力学特性较为复杂, 目前仍缺乏稳定高效的控制手段.?为解决港口起重机作业过程中台车定位精准度低、负载易受干扰摆幅大的问题, 文章设计了一种面向工业场景的非线性反馈控制器. 首先在未进行近似处理的前提下对起重机吊具摆动情况进行了建模分析. 在此基础上, 通过在控制器中引入摆幅反馈信息, 实现了绳长时变情况下台车的精确定位与负载摆幅的有效抑制, 为集装箱的运送路径增加了更多选择. 随后基于Lyapunov方法对控制器进行了稳定性分析. 所设计的控制方案在港口实际设备上进行了验证, 在定位精度与消摆性能上相较于人工操作取得了很大提升.

Nonlinear Anti-swing Control for Rubber Tyre Container Gantry Crane With Rope Length Variation

Due to the complex dynamic characteristics, the four-rope rubber tyre container gantry crane still lacks efficient control strategies. To deal with the problems of poor positioning accuracy and large swing amplitude during the operation, a nonlinear feedback controller for industrial scene is designed in this paper. Specifically, precise modeling of the spreader swing dynamic is first carried out, and then the swing amplitude information is taken into consideration of the controller construction. Based on that, precise positioning and effective swing suppression of the container are accomplished under the circumstances of rope length variation, which provides more selections for container transportation routes. The stability of the desired equilibria is proved with Lyapunov-based analysis, and extensive experiments are carried out on the practical container crane, which obtains much superior control performance than manual operation.