The invention relates to the technical field of shipborne crane anti-swing, and discloses a shipborne crane anti-swing control method and system.The method comprises the steps that a ship coordinate system is established, relative kinetic energy of a crane is calculated according to the ship coordinate system, inertia force is added into generalized force of all degrees of freedom, and the relative kinetic energy is obtained; the method comprises the following steps of: analyzing to obtain a dynamic model of suspension arm motion and load swing, constructing self-adaptive sliding mode anti-swing control according to the combination of an RBF neural network model and sliding mode control, analyzing continuous uncertain upper bound disturbance existing in an underactuated shipborne crane load based on the self-adaptive sliding mode anti-swing control, approaching the continuous disturbance of the uncertain upper bound, and carrying out self-adaptive sliding mode anti-swing control on the underactuated shipborne crane load. The dynamic model is simplified, inversion sliding mode control is introduced to compensate the observation error of a nonlinear disturbance observer, the position of a load is judged, and LQR control and self-adaptive sliding mode anti-swing control are switched according to the judgment result. The device has the characteristics of good anti-swing control and dynamic adjustment.

    本发明涉及船载起重机防摆技术领域,公开了一种船载起重机防摆控制方法及系统,该方法包括:建立船舶坐标系并根据船舶坐标系计算得出起重机相对动能,将惯性力加入各自由度的广义力中,分析得出吊臂运动与负载摆动的动力学模型,根据RBF神经网络模型和滑模控制相结合,构建自适应滑模防摆控制,基于自适应滑模防摆控制对欠驱动船载起重机负载存在的持续不确定上界扰动进行分析,逼近不确定上界的持续扰动,将动力学模型进行化简,引入反演滑模控制对非线性扰动观测器的观测误差进行补偿,对负载的位置进行判断,根据判断结果切换LQR控制和自适应滑模防摆控制。本发明具有良好的防摆控制和动态调节的特点。


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    Title :

    Shipborne crane anti-swing control method and system


    Additional title:

    一种船载起重机防摆控制方法及系统


    Contributors:
    CHEN ZHIMEI (author) / SHAO XUEJUAN (author) / ZHAO ZHICHENG (author) / WANG YANFANG (author) / ZHANG BING (author) / ZHENG JIANHUA (author) / QIU ZHIDAN (author)

    Publication date :

    2025-05-30


    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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