The invention provides a self-adaptive anti-swing control method and system for an under-actuated shipborne crane. The self-adaptive anti-swing control method comprises the following steps: establishing a kinetic equation of an offshore tower type marine crane system on a two-dimensional plane; describing the target position of the controlled load by using the state variable, and re-describing the kinetic equation of the ship crane system; establishing a controller based on the redescribed kinetic equation of the ship crane system; and carrying out positioning control on a trolley and a lifting rope of the marine crane system based on the established controller.

    本发明提出了一种欠驱动船载起重机自适应抗摆控制方法及系统,包括:在二维平面上建立海上塔式船用起重机系统的动力学方程;利用状态变量对所控制负载目标位置进行描述,重新描述船用起重机系统的动力学方程;基于重新描述的船用起重机系统的动力学方程,建立控制器;基于所建立的控制器对船用起重机系统台车和吊绳进行定位控制。


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    Titel :

    Self-adaptive anti-swing control method and system for under-actuated shipborne crane


    Weitere Titelangaben:

    一种欠驱动船载起重机自适应抗摆控制方法及系统


    Beteiligte:
    ZHANG MENGHUA (Autor:in) / ZHANG XIN (Autor:in) / SUN NING (Autor:in) / WU QINGXIANG (Autor:in) / GENG HAOKUN (Autor:in) / ZHAO HONGHUA (Autor:in)

    Erscheinungsdatum :

    29.11.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B66C Krane , CRANES



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