Stable control method and system for offshore crane provided with double-pendulum characteristics

A stability control method and crane technology, applied in the directions of cranes, load hanging elements, transportation and packaging, etc., can solve the problems of not considering the heave motion of the ship, not considering the saturation of the actuator, and not being able to directly apply the double pendulum offshore crane.

Active Publication Date: 2020-03-31
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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  • Stable control method and system for offshore crane provided with double-pendulum characteristics
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  • Stable control method and system for offshore crane provided with double-pendulum characteristics

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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

[0190] In one or more embodiments, an offshore crane stability control system with double pendulum characteristics is disclosed, comprising:

[0191] 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 ;

[0192] 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 ;

[0193] 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;

[0194] Means for achieving stable control of an offsh...

Embodiment 3

[0197] 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.

[0198] 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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PUM

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Abstract

The invention discloses a stable control method and system for an offshore crane provided with double-pendulum characteristics. The stable control method comprises the following steps: establishing adynamic model of a double-pendulum offshore crane; introducing an elevation angle of a suspension arm, length of a mooring rope between the gravity center of a lifting hook and the top end of the suspension arm, a swing angle of the lifting hook and a swing angle state variable of a lifted object, and converting the dynamic model into a novel dynamic model; defining mechanical energy of the double-pendulum offshore crane, and obtaining a nonlinear controller with a bounded control signal according to a derivative of the mechanical energy and the novel dynamic model; and realizing stable control on the offshore crane with the double-pendulum characteristics through the controller. By sufficiently taking disturbance caused by ship body rolling motion and heaving motion and the saturation problem of a performer into consideration, the nonlinear controller with the bounded control signal is designed, so that the controller still has very strong robustness in face of a non-zero initial swing angle, external disturbance, sea breeze influences and complex ship motion.

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 Applications(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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