The invention provides a ship crane optimization control method based on automatic gain tuning, and belongs to the technical field of ocean engineering control. According to the method, for a ship crane system, coordinate transformation is carried out by combining an original state variable of a jib crane with a ship rolling angle, on this basis, a nonlinear controller is designed by combining a Lyapunov theory and a Russell invariant set theory, then an optimization control problem is constructed based on a model prediction control method, and the optimal control problem is solved. The optimal and time-varying control gain of the nonlinear controller can be automatically determined on line by resolving the optimization control problem, meanwhile, the requirements of state constraint and input saturation can be met, the influence of input bounded and state limited on anti-swing control of the crane is effectively reduced, and the anti-swing performance of the ship crane is improved.

    本发明提供一种基于自动增益调谐的船舶起重机优化控制方法,属于海洋工程控制的技术领域。该方法针对船舶起重机系统,运用吊臂式起重机的原始状态变量与船舶横摇角相结合,进行坐标变换,在此基础上,结合Lyapunov理论和拉塞尔不变集理论设计非线性控制器,然后基于模型预测控制方法构造优化控制问题,通过解算该优化控制问题可在线自动确定非线性控制器的最优、时变控制增益,同时可满足状态约束和输入饱和要求,有效减少输入有界和状态受限对起重机防摆控制的影响,提高船舶起重机的抗摇摆性能。


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    Title :

    Ship crane optimization control method based on automatic gain tuning


    Additional title:

    一种基于自动增益调谐的船舶起重机优化控制方法


    Contributors:
    CAO YUCHI (author) / LI TIESHAN (author) / HAO LIYING (author) / ZHU LIYAN (author)

    Publication date :

    2022-03-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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