The invention belongs to the technical field of hoisting equipment control, and discloses a sliding-mode-based distributed mass double-pendulum ship crane control method and system, and the method comprises the steps: building a distributed mass double-pendulum ship crane system model based on Lagrange dynamics analysis; establishing a control target of the model, and respectively constructing rapid terminal sliding mode surfaces of a cantilever, a lifting hook, a distributed mass load and a hoisting mechanism; according to the rapid terminal sliding mode surfaces of the cantilever, the lifting hook and the distributed mass load, constructing a rapid terminal sliding mode surface of the coupling subsystem; an equivalent sliding mode control method is utilized to respectively obtain a control model of a coupling subsystem formed by equivalent control and switching control and a control model of a hoisting mechanism. According to the method, load swing is effectively restrained, meanwhile, distributed mass load parameter uncertainty and external disturbance are effectively treated, the working efficiency and safety of the marine crane are remarkably improved, and the intelligent level and the automation level of carrying equipment in China are improved.

    本发明属于起重设备控制技术领域,公开了一种基于滑模的分布式质量双摆船用起重机控制方法及系统,包括基于拉格朗日动力学分析,建立分布式质量双摆船用起重机系统模型;建立模型的控制目标,并分别构建悬臂、吊钩、分布式质量负载和起吊机构的快速终端滑模面;根据悬臂、吊钩及分布式质量负载的快速终端滑模面,构建耦合子系统的快速终端滑模面;利用等效滑模控制方法,分别得到由等效控制和切换控制构成的耦合子系统和起吊机构的控制模型。本发明在有效抑制负载摆动的同时,实现对分布式质量负载参数不确定性、外界扰动的有效处理,显著提高了海上船用起重机的工作效率和安全性,有助于我国搬运装备智能化和自动化水平的提升。


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    Title :

    Distributed mass double-pendulum ship crane control method and system based on sliding mode


    Additional title:

    基于滑模的分布式质量双摆船用起重机控制方法及系统


    Contributors:
    WU QINGXIANG (author) / SUN NING (author) / ZHANG MENGHUA (author) / GUO SHUDONG (author) / WANG TAO (author) / YANG TONG (author) / CHEN XIAOWEI (author)

    Publication date :

    2025-05-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung




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