船用起重机多绳减摇系统的非线性稳定控制

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中图分类号：U664

DOI：10.3969/j.issn.1004-132X.2025.07.011

开放科学（资源服务）标识码（OSID）：

Nonlinear Stability Control of Multi-cable Anti-sway Systems for Marine Cranes

ZHAO Tingqi1 CHENG Hongyu²SUN MaokailWANG Shenghai1* WANG Haoran1CHEN Haiquan1 1.College of Marine Engineering，Dalian Maritime University，Dalian，Liaoning，116026 2.AECC Shenyang Liming Aero-Engine Co.，Ltd.，Shenyang，110043

Abstract： In order to improve the robustness of mechanical anti-sway control algorithms for marine cranes，and avoid the overload of anti-sway cables caused by the ineffective synchronization motions between anti-sway cables and main hoisting cable in multi-cable anti-sway systems，a fast terminal sliding mode nonlinear anti-sway controler with improved reaching law（FTSMASC-IRL） and a fuzzy adaptive sliding mode synchronization controllr（FASMSC） were developed. The results of simulation 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 augmented PD controller（APDC），FSMASC improves the performance in error control over 75% ：

Key words： nonlinear anti-sway controller; synchronization controller; multi-cable anti-sway system；marine crane

0 引言

船用起重机是船舶高效装卸和转运货物的重要工具。（剩余12078字）