考虑载荷摆角的码头装卸起重机消摆自动控制
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中图分类号：TP273 文献标志码：B 文章编号：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
在码头装卸起重机的作业过程中，特别是在进行负载提升、小车移动和精确定位卸货时，由于小车的加速与减速操作以及负载的提升动作，常常导致负载产生显著的摆动。（剩余6195字）