起重运输机械Issue(11)：28-36,9.
基于HJI积分控制的铸造起重机防摆研究
摘要
Abstract
The swing of the ladle in a casting crane not only induces vibrations in the crane structure but also directly influences operational safety and efficiency.To address this issue,a dynamic equation was formulated based on the Lagrangian dynamics principle.A nonlinear control method,specifically an integral sliding mode control approach based on Hamiltonian-Jacobi-Isaacs(HJI)theory,was proposed.The stability of this control method was rigorously verified using Lyapunov stability theory.Taking the model of a four-beam,six-track casting crane with a lifting capacity of 350 tons as an example,the effectiveness of the control method was demonstrated through simulation and comparative analysis.The results indicate that under the control of the proposed controller,the crane trolley can more accurately track the preset trajectory,swiftly suppress ladle swing,and significantly reduce the influence of ladle swing on crane structure vibrations,which ultimately enhances the operational safety of large casting cranes.关键词
铸造起重机/双摆/积分变结构滑模控制/防摇摆/HJIKey words
casting crane/double pendulum/integral variable structure sliding mode control:anti-swing/HJI分类
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冯姝锦,秦义校,高梁..基于HJI积分控制的铸造起重机防摆研究[J].起重运输机械,2025,(11):28-36,9.基金项目
山西省重点研发计划项目(201903D121067)、山西省"1331工程"重点学科建设项目(1331KSC) （201903D121067）
