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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    Title :

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


    Additional title:

    一种欠驱动船载起重机自适应抗摆控制方法及系统


    Contributors:
    ZHANG MENGHUA (author) / ZHANG XIN (author) / SUN NING (author) / WU QINGXIANG (author) / GENG HAOKUN (author) / ZHAO HONGHUA (author)

    Publication date :

    2024-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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