起重运输机械Issue(6)：18-24,63,8.
基于切换式反步法的桅杆起重机吊装与减摆耦合控制
摘要
Abstract
To mitigate load swing during hoisting and improve operational efficiency,a switched step backstepping control strategy integrating hoisting with anti-swing functionality was proposed.Firstly,a dynamic model of the derrick crane system was established,and composite state variables were constructed comprising the absolute values of the load swing angle,pitch angle,and rotation angle.A controller was then designed based on the backstepping method,and the stability of the closed-loop system was analyzed piecewise using the Lyapunov direct method.Ultimately,the load can be hoisted to the designated position while reducing the amplitude of both in-plane and out-of-plane swing angles.Subsequently,comparative analyses were conducted among hoisting without swing suppression,input-shaping-based hoisting,and the proposed switched step backstepping control method.Simulation results demonstrate that the switched stepbackstepping control strategy can effectively attenuate load swing,shorten hoisting time,achieve favorable anti-swing performance,and enhance hoisting efficiency.关键词
桅杆起重机/动力学模型/反步法/复合状态变量/吊装与减摆耦合控制Key words
derrick crane/dynamic model/backstepping method/composite state variable/coupling control of hoisting and anti-swing分类
机械制造引用本文复制引用
邓英杰,程冰川,徐艺菲,赵丁选,薛需耀..基于切换式反步法的桅杆起重机吊装与减摆耦合控制[J].起重运输机械,2026,(6):18-24,63,8.基金项目
河北省自然科学基金资助项目(E2024203179、E2022203088)、河北省高等学校科学研究项目(BJ2025114)、河北省创新能力提升计划项目(24461901D) （E2024203179、E2022203088）
