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。
Self-adaptive anti-swing control method and system for under-actuated shipborne crane
一种欠驱动船载起重机自适应抗摆控制方法及系统
2024-11-29
Patent
Electronic Resource
Chinese
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