船用起重机多绳减摇系统的非线性稳定控制

doi:10.3969/j.issn.1004-132X.2025.07.011

中国机械工程 ›› 2025, Vol. 36 ›› Issue (07): 1487-1496.DOI: 10.3969/j.issn.1004-132X.2025.07.011

船用起重机多绳减摇系统的非线性稳定控制

赵庭祺¹;程宏宇²;孙茂凱¹;王生海¹*;王浩然1;陈海泉¹

1.大连海事大学轮机工程学院，大连，116026
2.中国航发沈阳黎明航空发动机有限责任公司，沈阳，110043

出版日期:2025-07-25 发布日期:2025-08-28
作者简介:赵庭祺，男，1997年生，硕士研究生。研究方向为船用起重机吊装减摇，发表论文6篇。E-mail:15847880562@163.com。
基金资助:
国家自然科学基金（52101396）；国家重点研发计划（2022YFB4300802）

Nonlinear Stability Control of Multi-cable Anti-sway Systems for Marine Cranes

ZHAO Tingqi¹;CHENG Hongyu²;SUN Maokai¹;WANG Shenghai¹*;WANG Haoran¹;CHEN Haiquan¹

1.College of Marine Engineering，Dalian Maritime University,Dalian,Liaoning,116026
2.AECC Shenyang Liming Aero-Engine Co.,Ltd.,Shenyang,110043

Online:2025-07-25 Published:2025-08-28

摘要/Abstract

摘要： 为提高船用起重机机械式减摇控制算法的鲁棒性，并避免多绳减摇系统的减摇索与主吊索之间无效的同步运动导致的减摇索过载，设计了带有改进趋近律的快速终端滑模非线性减摇控制器（FTSMASC-IRL）和模糊自适应滑模同步控制器（FASMSC）。仿真实验表明，FTSMASC-IRL的吊重摆角减小80%，优于恒张力控制器的吊重摆角减幅70%；相对于传统的增广PD控制器，FASMSC的误差控制性能至少提高75%。

关键词: 非线性减摇控制器；同步控制器；多绳减摇系统；船用起重机

Abstract: In order to improve the robustness of mechanical anti-sway control algorithms for marine cranes, and avoid the overload of anti-sway cables caused by the ineffective synchronization motions between anti-sway cables and main hoisting cable in multi-cable anti-sway systems, a fast terminal sliding mode nonlinear anti-sway controller with improved reaching law(FTSMASC-IRL) and a fuzzy adaptive sliding mode synchronization controller(FASMSC) were developed. The results of simulation experiments show that, FTSMASC-IRL reduces the payload swing angles by 80%, while the constant tension controller reduces the payload swing angles by 70%. Compared to the traditional augmented PD controller(APDC), FSMASC improves the performance in error control over 75%.

Key words: nonlinear anti-sway controller, synchronization controller, multi-cable anti-sway system, marine crane

中图分类号:

U664

赵庭祺1, 程宏宇2, 孙茂凱1, 王生海1, 王浩然1, 陈海泉1. 船用起重机多绳减摇系统的非线性稳定控制[J]. 中国机械工程, 2025, 36(07): 1487-1496.

ZHAO Tingqi1, CHENG Hongyu2, SUN Maokai1, WANG Shenghai1, WANG Haoran1, CHEN Haiquan1. Nonlinear Stability Control of Multi-cable Anti-sway Systems for Marine Cranes[J]. China Mechanical Engineering, 2025, 36(07): 1487-1496.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.07.011

https://www.cmemo.org.cn/CN/Y2025/V36/I07/1487

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船用起重机多绳减摇系统的非线性稳定控制

Nonlinear Stability Control of Multi-cable Anti-sway Systems for Marine Cranes

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