中国机械工程2025，Vol.36Issue(7)：1487-1496,10.DOI:10.3969/j.issn.1004-132X.2025.07.011
船用起重机多绳减摇系统的非线性稳定控制
Nonlinear Stability Control of Multi-cable Anti-sway Systems for Marine Cranes
摘要
Abstract
In order to improve the robustness of mechanical anti-sway control algorithms for ma-rine cranes,and avoid the overload of anti-sway cables caused by the ineffective synchronization mo-tions between anti-sway cables and main hoisting cable in multi-cable anti-sway systems,a fast termi-nal sliding mode nonlinear anti-sway controller with improved reaching law(FTSMASC-IRL)and a fuzzy adaptive sliding mode synchronization controller(FASMSC)were developed.The results of sim-ulation experiments show that,FTSMASC-IRL reduces the payload swing angles by 80％,while the constant tension controller reduces the payload swing angles by 70％.Compared to the traditional aug-mented PD controller(APDC),FSMASC improves the performance in error control over 75％.关键词
非线性减摇控制器/同步控制器/多绳减摇系统/船用起重机Key words
nonlinear anti-sway controller/synchronization controller/multi-cable anti-sway sys-tem/marine crane分类
交通工程引用本文复制引用
赵庭祺,程宏宇,孙茂凱,王生海,王浩然,陈海泉..船用起重机多绳减摇系统的非线性稳定控制[J].中国机械工程,2025,36(7):1487-1496,10.基金项目
国家自然科学基金(52101396) （52101396）
国家重点研发计划(2022YFB4300802) （2022YFB4300802）
