Marine crane automatic-control experimental system

Abstract

The invention relates to a marine crane automatic-control experimental system. The system comprises a crane simulator( used for simulating the motion characteristics of real crane, and serving as a control subject of the whole system), a ship motion simulator( used for simulating the movement condition of real crane in the sea and regarded as the working environment of the crane simulator), a measuring equipment of movement condition( used for measuring the real-time movement information of the crane and the ship body simulator and sending the information to a control system as a feedback signal) and the control system( used for addressing various feedback signals in real time and synthesizing the corresponding control command and sending the command to a servo motor, so as to make the crane and the ship body simulator generate expected movement). The marine crane automatic-control experimental system has the advantages of truly reflecting the motion characteristics of the crane for ship under the sea surface working environment and being convenient to make experimental verification for various corresponding control algorithms.

Description

technical field [0001] The invention belongs to the technical field of automatic control of nonlinear underactuated systems, in particular to an automatic control experiment system of a marine crane. Background technique [0002] Marine crane is a special large-scale lifting and transportation equipment installed on the hull. It is now widely used in port cargo handling, implementation of ocean engineering, and offshore replenishment. In recent years, with the vigorous development of the marine industry, the demand for marine cranes has become higher and higher, and the corresponding research work has become extremely urgent. However, due to the complex structure of the marine crane system and the harsh working environment, related research is extremely challenging and progress is slow, which greatly limits the ability of marine cargo handling and transportation. [0003] So far, most of the existing marine cranes are manually operated, and their positioning accuracy is oft...

AI Technical Summary

Problems solved by technology

But when the system state is far from the equilibrium point, the performance of the controller will not be guaranteed

Ismail et al. [4] proposed a trajectory tracking anti-swing controller based on the second-order sliding mode. The controller structure is complex and cannot guarantee asymptotic stability.

In addition, some researchers have proposed to use intelligent control methods to control marine cranes [5,6], and have achieved preliminary results, but it is not yet very mature

[0005] So far, most of the existing research results on marine cranes are still in the theoretical analysis stage, and their actual control effects cannot be effectively verified.

In order to solve this problem, in the patent [7], researchers took the lead in designing a type of automatic control system for marine cranes, but the relevant experimental platform is relatively heavy and complex in structure, difficult to replicate, and inconvenient for debugging and related experiments

In addition, due to the complexity of the transmission system of the experimental system, the relevant transmission accuracy is greatly reduced, and it is not suitable for experimental operations with high precision.

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