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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers >Robust controls for ship-mounted container cranes with viscoelastic foundation and flexible hoisting cable
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Robust controls for ship-mounted container cranes with viscoelastic foundation and flexible hoisting cable

机译：具有粘弹性基础和柔性提升电缆的船用集装箱起重机的鲁棒控制

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摘要

This study proposes two robust controllers for a ship-mounted container crane based on the back-stepping sliding mode control technique. The ship crane system is operated under complex conditions, in which the disturbances caused by the viscoelasticity of seawater and the flexibility of handling wire ropes are fully considered. With two actuators consisting of a trolley-moving force and container-hoisting torque, the controllers concurrently stabilize six states: trolley displacement, container-lifting motion, container swing, axial container oscillation, ship roll, and heave. The quality of the control algorithms is investigated through simulation. The results show that the responses of the crane are asymptotically stabilized and that the ship vibrations are significantly reduced.
机译：本研究提出了一种基于后推滑模控制技术的船舶集装箱起重机的两个鲁棒控制器。船舶起重机系统在复杂的条件下运行，其中充分考虑了由海水的粘弹性和操纵钢丝绳的灵活性引起的干扰。借助两个由小车移动力和集装箱提升扭矩组成的执行器，控制器可同时稳定六个状态：小车移位，集装箱抬升运动，集装箱摆动，集装箱轴向摆动，船侧倾和升沉。通过仿真研究了控制算法的质量。结果表明，起重机的响应是渐近稳定的，并且船舶振动明显减小。

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