摘要
为了解决船舶起重机在外部海浪干扰下负载摆动幅度大、小车定位精度不高、抗干扰能力差的问题,通过非线性能量耦合方法,应用欧拉-拉格朗日方程对带有船舶横摇以及船低沉降的船舶起重机进行动力学建模,然后构造了一种复合型误差信号来增强小车运动特性以及船舶载荷摆动的耦合关系并将动力学模型转化。在此基础上设计控制器,并进行了基于李雅普诺夫(Lyapunov)方法的稳定性证明和仿真模拟实验。验证了该方法在复杂情况下的可行性,实现船舶起重器系统在平衡点的渐进稳定性。可见所提的控制方法具有良好的控制性能、适应性和鲁棒性。对于运输过程中摆角抑制、系统定位和效率提高具有良好的效果。
In order to solve the problems of large swing amplitude of load,low positioning accuracy of trolley and poor anti-interference capability of ship-mountse cranes under external wave interference.By the nonlinear energy coupling method,the dynamic model of ship-mountse cranes with ship rolling and ship settlement was established by using Euler-Lagrange equation.Then a compound error signal was constructed to enhance the coupling relationship between the trolley motion characteristics and the ship load swing,and the dynamic model was transformed.On this basis,the controller was designed.The stability proof and simulation experiment based on Lyapunov method were carried out.The feasibility of this method in complex situation was verified,and the gradual stability of ship crane system at equilibrium point was realized.It can be seen that the control method proposed has good control performance,adaptability,robustness,and good effect on swing angle suppression,system positioning and efficiency improvement in the transportation process.
作者
张珂
张海峰
佟圣皓
石怀涛
张义星
ZHANG Ke;ZHANG Hai-feng;TONG Sheng-hao;SHI Huai-tao;ZHANG Yi-xing(School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168, China)
出处
《科学技术与工程》
北大核心
2021年第19期8086-8093,共8页
Science Technology and Engineering
基金
国家重点研发计划(2017YFC0703903)
住建部科技计划项目(2019-K-080)
国家自然科学基金(51705341,51905357)
辽宁省教育厅项目(lnqn202009)
河北省重点研发计划(19211904D)。
