考慮載荷擺角的碼頭裝卸起重機消擺自動控制
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中圖分類號：TP273 文獻標(biāo)志碼：B 文章編號：1671-5276（2025）03-0289-06
Automatic Control of Anti-sway for Dock Loading and Unloading Cranes Considering Load Swing Angle
KAN Dongjie1，2，MA Xiaoxue1， （1.Tianjin Research Institute for Water Transport Engineering，M.O.T.，Tianjin 30O456，China; 2. Tianjin Research Institute for Water Transport Engineering Co.，Ltd.，Tianjin 3OO456，China）
Abstract：Tohndlethelowcontrolaccuracyandafetyhazardsindiferentstatesofcontrollnginthemovementanddisipation of loadingandunloading cranes at thedockduetothesoleconsiderationofvibrationswing byneglecting loadswingangle，a methodforautomaticcontrol ofanti-swayofdock loadingandunloading cranesconsidering loadswingangleisproposed.The problemofloadswingangleduring thecontrol processbeing focusedon，thedynamiccharacteristicsofthecrane werethoroughly studiedtofindaccuratecontrolparameters，basedohichatrackingdiferentialcontrolerwasdesignedtotracktheral-time statechangesofthecrane systematdiferentstages，providingareliablebasisforsubsequentanti-swaycontrol.Combinedwith delaycontrol theory，aslidingmodecontrolerwasesignedfordiffrentstatechanges，whichefectivelysuppressedtheswingof theload byaccuratelycontrolingthemovementof thecrane.Theexperimentalresultsshowthattheproposedmethodnotonly accuratelytracksthedisplacementofthecranetroleyandtheloadswing angle，butalsohas high displacementcontrolauracy and good anti-swing effect.
KeyWords：crane；load swing angle；tracking diffrential controllr；anti-swing control；sliding mode controller
0 引言
在碼頭裝卸起重機的作業(yè)過程中，特別是在進行負載提升、小車移動和精確定位卸貨時，由于小車的加速與減速操作以及負載的提升動作，常常導(dǎo)致負載產(chǎn)生顯著的擺動。（剩余6195字）