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Ship crane optimization control method based on automatic gain tuning

An optimized control and automatic gain technology, applied in the direction of load hanging components, transportation and packaging, etc., can solve problems such as less consideration of system optimization control problems, no consideration of input saturation and state constraints, and many parameters, etc., to achieve improved optimal control effect of effect

Pending Publication Date: 2022-03-22
DALIAN MARITIME UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Some of the controllers have complex structures and many parameters, which inevitably lead to troublesome and inefficient parameter adjustment.
In addition, the existing control methods basically do not consider the actual input saturation and state constraints in the ship crane system, and seldom consider the optimal control of the system

Method used

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  • Ship crane optimization control method based on automatic gain tuning
  • Ship crane optimization control method based on automatic gain tuning
  • Ship crane optimization control method based on automatic gain tuning

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Embodiment 1

[0142] In this embodiment, the validity of the method of the present invention is verified through simulation and comparison with other methods. In this embodiment, the values ​​of relevant parameters are as follows:

[0143] m B =10kg,m p =1.0kg,L B =0.9m, J=2.7kg·m 2 ,d=0.4m,g=9.8m / s 2 .

[0144] The initial value is ρ 1 (0)=5deg, ρ 2 (0)=0.10m, ρ 3 (0) = 0 deg.

[0145] The expected value is ρ 1d =60deg,ρ 2d =0.60m, ρ 3d = 0 degrees.

[0146] For the convenience of comparison, for the controller (abbreviated as TELC here), through trial and error, a more ideal control gain is obtained as k p1 =8.0,k p2 =15,k d1 =25,k d2 =15.

[0147] For the online gain adjustment controller based on model predictive control proposed by the present invention (abbreviated as MPCLCC here), the values ​​of each weight matrix in the cost function (i.e. formula (a)) are respectively: Q=P=diag{10 4 10 4 10 4}, R={0.010.010.010.01}. The value ranges of the four control gains (...

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Abstract

The invention provides a ship crane optimization control method based on automatic gain tuning, and belongs to the technical field of ocean engineering control. According to the method, for a ship crane system, coordinate transformation is carried out by combining an original state variable of a jib crane with a ship rolling angle, on this basis, a nonlinear controller is designed by combining a Lyapunov theory and a Russell invariant set theory, then an optimization control problem is constructed based on a model prediction control method, and the optimal control problem is solved. The optimal and time-varying control gain of the nonlinear controller can be automatically determined on line by resolving the optimization control problem, meanwhile, the requirements of state constraint and input saturation can be met, the influence of input bounded and state limited on anti-swing control of the crane is effectively reduced, and the anti-swing performance of the ship crane is improved.

Description

technical field [0001] The invention relates to the technical field of ocean engineering control, in particular to an anti-swing control method for a ship crane capable of online automatic tuning of control gain. Background technique [0002] Ship cranes are a very important type of marine engineering equipment, widely used in ship cargo handling, marine engineering applications (such as offshore wind farm construction, submarine pipeline cable laying, navigation mark establishment and maintenance, etc.), rescue and salvage, etc. [0003] Ship crane is a kind of multi-input multi-output, strongly coupled, complex nonlinear underactuated system. In addition, since the ship crane is installed on the ship deck or floating dock, it works in a non-inertial coordinate system. External complex environmental factors such as waves, wind, and currents will also aggravate the swing of the load. Based on the above reasons, it is very difficult to realize the intelligent control of shi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/06B66C13/48
CPCB66C13/063B66C13/48
Inventor 曹玉墀李铁山郝立颖朱丽燕
Owner DALIAN MARITIME UNIVERSITY
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