控制理论与应用2026，Vol.43Issue(3)：509-520,12.DOI:10.7641/CTA.2024.30392
散货码头门机负载防摇无模型自适应控制
Model-free adaptive control for load anti-swing of bulk terminal portal crane
摘要
Abstract
Aiming at the load anti-sway control problem under the operating conditions of portal crane in bulk terminals,an improved double-input double-output model-free adaptive control method is proposed in consideration of the difficulty in accurately modeling the portal crane system and the unknown external perturbations.Firstly,a time-varying parameter vector is added in front of the output variables based on the traditional tight-format dynamic linearized data model,so that the improved data model can better describe the dynamic characteristics of the portal crane system and improve the adaptability and robustness of the controller.Then,the pseudo-Jacobian matrix estimation law is computed online by using the integrating algorithm,and the improved model-free adaptive load sway control algorithm is designed to apply to the portal crane system of the bulk terminal.Finally,the stability of the system is theoretically analyzed.Through simulation and comparison,it is verified that the improved control method can more effectively inhibit and quickly eliminate the load swing,and at the same time,it has strong robustness to unknown external disturbances.关键词
门座式起重机/无模型自适应控制/散货码头/负载防摇/双输入双输出系统Key words
portal crane/model-free adaptive control/bulk terminal/load anti-swing/double-input double-output system引用本文复制引用
姚文龙,刘旺旺,池荣虎,慕成林,李博洋..散货码头门机负载防摇无模型自适应控制[J].控制理论与应用,2026,43(3):509-520,12.基金项目
国家自然科学基金项目(62273192),山东省重大科技创新项目(2021SFGC0601),山东省科技型中小企业创新能力提升项目(2022TSGC1003)资助.Supported by the National Natural Science Foundation of China(62273192),the Shandong Province Major Science and Technology Innovation Project(2021SFGC0601)and the Shandong Province Science and Technology SMEs Innovation Capacity Enhancement Project(2022TSGC1003). （62273192）
