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Method, device and system for positioning control of underactuated marine crane within limited time

A marine crane, limited time technology, applied in the direction of transportation and packaging, load hanging components, etc., to achieve the effect of eliminating residual swing, good control effect, and improved swing elimination performance

Active Publication Date: 2019-05-17
NANKAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] Aiming at the deficiencies in the control method of the marine crane system in the prior art, the problem of how to eliminate the influence of the linearization of the nonlinear model of the marine crane system in the prior art and ensure that the boom and the suspension rope reach the designated position within a limited time is solved. The present invention provides an underactuated marine crane positioning control planning method, device and system within a limited time, which effectively ensures that the marine crane system can still run smoothly and effectively under the condition of sea wave interference, and completes positioning control within a limited time , to quickly achieve the goal of load elimination

Method used

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  • Method, device and system for positioning control of underactuated marine crane within limited time
  • Method, device and system for positioning control of underactuated marine crane within limited time
  • Method, device and system for positioning control of underactuated marine crane within limited time

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Embodiment 1

[0066] The purpose of Embodiment 1 is to provide a positioning control method for an underactuated marine crane within a limited time.

[0067] In order to achieve the above object, the present invention adopts the following technical scheme: according to the dynamic model of the driveable part of the marine crane, the second-order sliding surface is constructed, and the nonlinear bounded function related to the positioning error signal is introduced to construct the nonlinear controller, Ensure that the boom and rope reach the designated position within a limited time, and finally use the Lyapunov method to prove the stability of the system's equilibrium point. In addition, in order to eliminate the residual swing of the load as soon as possible, a coupling term related to the swing angular velocity is added to the controller to further improve the swing elimination performance of the control method. This method can complete the accurate control of the pitch angle of the boom...

Embodiment 2

[0183] The purpose of Embodiment 2 is to provide a computer-readable storage medium. In order to achieve the above object, the present invention adopts the following technical scheme:

[0184] A computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by the processor of the terminal device and perform the following processing:

[0185] Step (1): Construct a second-order sliding surface based on the dynamic model of the driveable part of the marine crane system, and introduce a nonlinear bounded function related to the positioning error signal to construct a nonlinear controller;

[0186] Step (2): receiving the set physical parameters of the marine crane system;

[0187] Step (3): receiving the real-time collected boom pitch angle, suspension rope length, load swing angle and hull roll angle caused by wave interference;

[0188] Step (4): pass the received data through the proposed nonlinear controller to calculat...

Embodiment 3

[0191] The purpose of Embodiment 3 is to provide a terminal device. In order to achieve the above object, the present invention adopts the following technical scheme:

[0192] A terminal device includes a processor and a computer-readable storage medium, the processor is used to implement instructions; the computer-readable storage medium is used to store multiple instructions, and the scope of application of the instructions is the same as that in Embodiment 2. When these computer-executable instructions run in the device, the device executes the methods or processes described in the various embodiments disclosed in the present invention.

[0193] In this embodiment, a computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for performing various aspects disclosed in the present invention. A computer readable storage medium may be a tangible device capable of storing instructions for use by an instruction exe...

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Abstract

The invention discloses a positioning control method, device and system for an under-activated marine crane within finite time. The method comprises the steps of (1) constructing a two-order sliding mode surface based on a kinetic model of a drivable portion of a marine crane system, and introducing a nonlinear bounded function relevant to a positioning error signal to construct a nonlinear controller; (2) receiving physical parameters of the set marine crane system; (3) receiving boom pitching angle, rope length, load tilt angle and hull roll angle due to sea wave interferences, which are acquired in real time; (4) inputting the received data to the nonlinear controller, and calculating and controlling boom pitching and rope length input force and torque; (5) driving a boom and a rope tomove to a target position within finite time, thereby eliminating residual rocking of a load.

Description

technical field [0001] The invention belongs to the technical field of marine engineering control, and relates to a limited-time positioning control method, device and system for an underactuated marine crane. Background technique [0002] In practical applications, most mechanical systems are highly nonlinear and underactuated. Among them, the crane system, as a typical nonlinear industrial mechanical system, has been widely concerned by researchers. Since the number of state variables to be controlled of the underactuated crane is more than the number of control inputs, the difficulty of controller design will be greatly increased. [0003] At present, in order to further improve the working efficiency of the crane system and minimize the energy consumption of the system, some valuable methods have been proposed and have been successfully applied to the crane system. Specifically, the open-loop control method is suitable for the crane system without obvious external dist...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/06B66C13/16B66C13/48
CPCB66C13/063B66C13/16B66C13/48
Inventor 孙宁杨桐陈鹤方勇纯
Owner NANKAI UNIV
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