...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Adaptive Sliding-Mode Control of an Offshore Container Crane With Unknown Disturbances
【24h】

Adaptive Sliding-Mode Control of an Offshore Container Crane With Unknown Disturbances

机译：具有未知扰动的海上集装箱起重机的自适应滑模控制

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

In this paper, an adaptive sliding-mode control (ASMC) for offshore container cranes that loadunload containers from a mega container ship to a smaller vessel is investigated. To withstand the harsh working conditions in the open sea, such as ship motions and winds, a 4-degrees-of-freedom control model consisting of plant uncertainties and knownunknown disturbances is newly developed. After decoupling the actuated (i.e., trolley displacements) and unactuated (i.e., swing angles) joint variables, a sliding surface that incorporates the decoupled dynamics is designed. Then, a new sliding-mode control (SMC) algorithm with two adaptation laws for switching- and equivalent-control inputs is developed. The asymptotic stability to the "real" sliding surface introduced in the decoupled (actuated, unactuated) state space is proven without a priori knowledge on the bounds of unknown disturbances. For the experiment, a three-dimensional crane mounted on a Steward platform to generate the ship motions is utilized. To verify the effectiveness of the proposed ASMC method, experimental results of the proposed method are compared with two representative works: the SMC presented by Ngo and Hong and the ASMC presented by Zhu and Khayati. The vibration suppression capability of the proposed method in the presence of ship motions, large initial swings, parameter uncertainties, and sudden disturbances is superior to the two compared methods. The developed algorithm can be used for a mobile harbor system as a new tool in the modern maritime industry.
机译：本文研究了一种适用于海上集装箱起重机的自适应滑模控制（ASMC），该起重机将集装箱从大型集装箱船上装载到较小的船上。为了承受公海中恶劣的工作条件（例如船舶的运动和风），新开发了由工厂不确定性和已知未知干扰组成的4自由度控制模型。解耦已激活的（即小车位移）和未激活的（即摆角）关节变量后，设计了一个包含解耦动力学的滑动面。然后，开发了一种新的滑模控制（SMC）算法，该算法具有针对开关和等效控制输入的两个自适应定律。在没有对未知扰动范围的先验知识的情况下，证明了在解耦（激活，未激活）状态空间中引入的“真实”滑动表面的渐近稳定性。对于实验，利用安装在Steward平台上的3D起重机来产生船舶运动。为了验证所提方法的有效性，将所提方法的实验结果与两个代表作品进行了比较：Ngo和Hong提出的SMC以及Zhu和Khayati提出的ASMC。所提出的方法在船舶运动，初始大摆幅，参数不确定性和突然扰动的情况下的振动抑制能力优于两种方法。所开发的算法可用于移动港口系统，作为现代海运业中的一种新工具。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号