The invention discloses a seven-degree-of-freedom ship crane control method and system based on a disturbance observer, and belongs to the technical field of ship crane anti-swing motion control. Comprising the following steps: acquiring system parameters of a ship crane system, and constructing a seven-degree-of-freedom ship crane system dynamic model in combination with rolling, pitching and heaving motions of a ship body; constructing an energy function of the ship crane system based on the dynamic model of the seven-degree-of-freedom ship crane system; constructing a disturbance observer based on the energy function; wherein the energy function comprises potential energy and kinetic energy, and the disturbance observer comprises a coupling variable and a friction estimation item; based on a coupling variable and the friction estimation term, combining a saturation function to construct a nonlinear controller, and utilizing the nonlinear controller to carry out positioning and swing elimination on the ship crane system; positioning of the cantilever and the load can be achieved through the nonlinear controller, and a good restraining effect on shaking of the load is achieved; the problem that an existing marine crane control system is low in control precision is solved.
本发明公开了一种基于扰动观测器的七自由度船用起重机控制方法及系统,属于船吊防摇运动控制技术领域;包括:获取船用起重机系统的系统参数,结合船体的横摇、纵摇和升沉运动,构建七自由度船用起重机系统动态模型;基于七自由度船用起重机系统动态模型,构造船用起重机系统的能量函数;基于能量函数,构建扰动观测器;其中,能量函数包括势能及动能,扰动观测器包括耦合变量和摩擦估计项;基于耦合变量和所述摩擦估计项,结合饱和函数,构造非线性控制器,以利用非线性控制器对船用起重机系统进行定位与消摆;通过非线性控制器可以实现悬臂和负载的定位,并对负载的晃动有较好的抑制效果;解决了现有船用起重机控制系统控制精度低的问题。
Seven-degree-of-freedom marine crane control method and system based on disturbance observer
基于扰动观测器的七自由度船用起重机控制方法及系统
10.06.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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