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Offshore crane stability control method and system with double pendulum characteristics

A stability control method and crane technology, applied in the direction of cranes, load hanging components, transportation and packaging, etc., can solve the problems that the double pendulum offshore crane cannot be directly applied, the actuator saturation problem is not considered, and the ship's heave motion is not considered.

Active Publication Date: 2020-11-06
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, these results still cannot be directly applied to double pendulum offshore cranes
At present, as far as the inventor knows, the research on the stability control of offshore cranes with double pendulum characteristics in the prior art does not consider the heave motion of the ship, nor does it consider the saturation of the actuator

Method used

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  • Offshore crane stability control method and system with double pendulum characteristics
  • Offshore crane stability control method and system with double pendulum characteristics
  • Offshore crane stability control method and system with double pendulum characteristics

Examples

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Embodiment 1

[0045] In one or more embodiments, a method for stability control of an offshore crane with double pendulum characteristics is disclosed, including the following processes:

[0046] (1) In the presence of disturbances caused by hull roll and heave motion, the dynamic model of the double-pendulum offshore crane is established with the control goal of stabilizing the hook and the hanging object at a specific position in the geodetic coordinate system ;

[0047] (2) Introduce the elevation angle of the boom in the geodetic coordinate system, the length of the cable between the center of gravity of the hook and the top of the boom, the swing angle of the hook, and the swing angle state variables of the hanging object, and convert the dynamic model into a new dynamic model;

[0048] (3) Define the mechanical energy of the double pendulum offshore crane, and obtain a nonlinear controller with bounded control signals according to the derivative of the mechanical energy and a new dyn...

Embodiment 2

[0202] In one or more embodiments, an offshore crane stability control system with double pendulum characteristics is disclosed, comprising:

[0203] It is a device used to establish a dynamic model of a double-pendulum offshore crane by stabilizing the hook and the hanging object at a specific position in the geodetic coordinate system in the presence of disturbances caused by hull roll and heave motion ;

[0204] A device for introducing the elevation angle of the boom, the length of the cable between the center of gravity of the hook and the top of the boom, the swing angle of the hook and the swing angle of the hanging object, and converting the dynamic model into a new dynamic model ;

[0205] A device for defining the mechanical energy of a double-pendulum offshore crane, and obtaining a nonlinear controller with a bounded control signal according to the derivative of the mechanical energy and a new dynamic model;

[0206] Means for achieving stable control of an offsh...

Embodiment 3

[0209] In one or more embodiments, a terminal device is disclosed, which 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 instructions are suitable for The method is based on loading and executing the above-mentioned offshore crane stability control method with double pendulum characteristics by the processor.

[0210] In some other embodiments, a computer-readable storage medium is disclosed, in which a plurality of instructions are stored, and the instructions are suitable for being loaded by a processor of a terminal device and executing the above-mentioned method for controlling stability of an offshore crane with double pendulum characteristics .

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Abstract

The invention discloses a method and system for controlling the stability of an offshore crane with double pendulum characteristics, including: establishing a dynamic model of a double pendulum offshore crane; introducing the elevation angle of the boom, the length of the cable between the center of gravity of the hook and the top of the boom, The swing angle of the hook and the state variable of the swing angle of the hanging object, the dynamic model is converted into a new dynamic model; the mechanical energy of the double pendulum offshore crane is defined, and according to the derivative of the mechanical energy and the new dynamic model, the A nonlinear controller with a bounded control signal; the stable control of the offshore crane with double pendulum characteristics is realized by the controller. The invention fully considers the disturbance caused by the roll motion and heave motion of the hull and the saturation problem of the actuator, and designs a nonlinear controller with a bounded control signal. When the hull moves, the controller still has strong robustness.

Description

technical field [0001] The invention relates to the technical field of stability control of offshore cranes, in particular to a method and system for stability control of offshore cranes with double pendulum characteristics. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] As ocean exploration and marine resources development gradually move towards the deep sea, offshore cranes are more and more widely used in marine transportation. An offshore crane is a special type of crane installed on a ship. This type of crane usually works in an offshore environment and is used to place goods in a specific position. Similar to land cranes, offshore cranes will also experience swinging loads during work. However, offshore cranes have more complex dynamics than land cranes. Also offshore cranes are subject to disturbances introduced by continuous hu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66C13/18B66C13/06
CPCB66C13/06B66C13/18B66C23/88
Inventor 马昕李轾李贻斌宋锐荣学文
Owner SHANDONG UNIV
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