考慮載荷擺角的碼頭裝卸起重機(jī)消擺自動(dòng)控制

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中圖分類號(hào)：TP273 文獻(xiàn)標(biāo)志碼：B 文章編號(hào)：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

在碼頭裝卸起重機(jī)的作業(yè)過(guò)程中，特別是在進(jìn)行負(fù)載提升、小車移動(dòng)和精確定位卸貨時(shí)，由于小車的加速與減速操作以及負(fù)載的提升動(dòng)作，常常導(dǎo)致負(fù)載產(chǎn)生顯著的擺動(dòng)。（剩余6195字）