Distributed mass double-pendulum ship crane control method and system based on sliding mode

Abstract

The invention belongs to the technical field of hoisting equipment control, and discloses a sliding-mode-based distributed mass double-pendulum ship crane control method and system, and the method comprises the steps: building a distributed mass double-pendulum ship crane system model based on Lagrange dynamics analysis; establishing a control target of the model, and respectively constructing rapid terminal sliding mode surfaces of a cantilever, a lifting hook, a distributed mass load and a hoisting mechanism; according to the rapid terminal sliding mode surfaces of the cantilever, the lifting hook and the distributed mass load, constructing a rapid terminal sliding mode surface of the coupling subsystem; an equivalent sliding mode control method is utilized to respectively obtain a control model of a coupling subsystem formed by equivalent control and switching control and a control model of a hoisting mechanism. According to the method, load swing is effectively restrained, meanwhile, distributed mass load parameter uncertainty and external disturbance are effectively treated, the working efficiency and safety of the marine crane are remarkably improved, and the intelligent level and the automation level of carrying equipment in China are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting equipment control, and in particular to a sliding mode-based distributed mass double-swing marine crane control method and system. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] As a kind of handling equipment, marine cranes play an increasingly important role in many fields such as marine resource exploration, offshore wind power construction, and cross-sea bridge construction. At the same time, as an under-actuated system, marine cranes transport goods through the pitch and rotation of the cantilever. In other words, it is difficult for marine cranes to directly control the movement of the hoisted load, which brings severe challenges to its control.

[0004] Compared with land cranes, marine cranes are not only affected by external disturbances such as wind, but are also inevitably affected by waves, that is, the base is a moving platform, which brings severe challenges to its control. Therefore, existing marine cranes are mostly operated manually. However, marine marine cranes not only have a complex operating environment, but also have limited operating space. For example, during the cargo handling process between ships, factors such as under-actuation of the load and complex external disturbances can easily cause the hoisted load to collide with the cabin or surrounding equipment, seriously threatening the safety of equipment and personnel.

[0005] In addition, in recent years, the implementation of a large number of major equipment and projects has put forward higher requirements for the positioning accuracy and hoisting stability of large cargo (i.e. distributed mass loads). At the same time, existing crane control research focuses on the hoisting form of point mass loads, ignoring the influence of load shape and volume. However, the more complex dynamic characteristics of loads such as large wind turbine blades and large steel structures of drilling platforms make existing research difficult to directly apply. Summary of the invention

[0006] In order to solve the above problems, the present invention proposes a sliding mode-based distributed mass double-swing ship crane control method and system, which can effectively suppress the swing of the distributed mass load while effectively handling the uncertainty of the distributed mass load parameters and external disturbances, significantly improving the working efficiency and safety of offshore ship cranes, and contributing to the improvement of the intelligence and automation level of my country's handling equipment.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a sliding mode-based distributed mass double-swing marine crane control method, comprising the following steps:

[0009] Based on Lagrangian dynamics analysis, a distributed mass double-pendulum marine crane system model is established;

[0010] The control objectives of the model are established, and the fast terminal sliding surfaces of the cantilever, hook, distributed mass load and lifting mechanism are constructed respectively;

[0011] According to the fast terminal sliding surface of the cantilever, hook and distributed mass load, the fast terminal sliding surface of the coupling subsystem is constructed;

[0012] By using the equivalent sliding mode control method, the control models of the coupling subsystem and the lifting mechanism consisting of equivalent control and switching control are obtained respectively.

[0013] As an optional embodiment, the control objectives of the model include transporting the distributed mass load to a target position and suppressing the swing of the distributed mass load during the transportation process.

[0014] As an optional embodiment, the fast terminal sliding surface of the cantilever, hook, distributed mass load and lifting mechanism is:

[0015]

[0016] Among them, S j is the fast terminal sliding surface of the cantilever, S1 is the fast terminal sliding surface of the hook, S2 is the fast terminal sliding surface of the distributed mass load, S h is the fast terminal sliding surface of the lifting mechanism, e1 is the tracking error of the hook swing angle, e2 is the tracking error of the distributed mass load, and e L is the tracking error of the lifting rope length, e j is the tracking error of the cantilever angle.

[0017] As an optional implementation, the fast terminal sliding surface of the coupled subsystem is:

[0018]

[0019] in, is the layered sliding surface parameter, and

[0020] As an optional implementation, the distributed mass double-swing marine crane system model is:

[0021]

[0022] in, represents the state vector, represents the control input vector, M(q)∈R 4×4 represents the inertia matrix, represents the Coriolis matrix, G(q)∈R4×1 represents the gravity vector, where R represents a real number.

[0023] As an optional implementation, the control model of the coupled subsystem is:

[0024]

[0025] The control model of the lifting mechanism is:

[0026]

[0027] In a second aspect, the present invention provides a sliding mode-based distributed mass double-swing marine crane control system, comprising:

[0028] The model building module is configured to: build a distributed mass double-pendulum marine crane system model based on Lagrangian dynamics analysis;

[0029] The sliding surface establishment module is configured to: establish the control target of the model and construct the fast terminal sliding surfaces of the cantilever, hook, distributed mass load and lifting mechanism respectively;

[0030] The sliding surface establishment module of the coupling subsystem is configured to: construct a fast terminal sliding surface of the coupling subsystem according to the fast terminal sliding surfaces of the cantilever, the hook and the distributed mass load;

[0031] The control module is configured to: utilize an equivalent sliding mode control method to obtain control models of a coupling subsystem and a lifting mechanism composed of equivalent control and switching control, respectively.

[0032] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method described in the first aspect is performed.

[0033] In a fourth aspect, the present invention provides a computer-readable storage medium for storing computer instructions, wherein when the computer instructions are executed by a processor, the method described in the first aspect is performed.

[0034] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method described in the first aspect.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention proposes a sliding mode-based distributed mass double-pendulum ship crane control method and system. First, based on the Lagrangian dynamics analysis method, a distributed mass double-pendulum ship crane system model is established and converted into an acceleration input control mode. Based on this, considering the change in the length of the lifting rope, a fast terminal sliding mode control method is proposed, which effectively suppresses the load swing while achieving effective processing of the uncertainty of distributed mass load parameters and external disturbances. The method proposed in the present invention is oriented to the complex working conditions of offshore lifting of distributed mass loads (large wind turbine blades, offshore drilling platform construction, bridge boxes, etc.), is close to manual operation habits, and is suitable for automatic control and semi-automatic control with manual operation intervention. It can significantly improve the work efficiency and safety of offshore ship cranes and enhance the intelligence and automation level of my country's handling equipment.

[0037] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0039] Figure 1 It is a flow chart of the sliding mode-based distributed mass double-swing marine crane control method of the present invention;

[0040] Figure 2 It is a structural schematic diagram of the distributed mass double-swing marine crane of the present invention;

[0041] Figure 3 It is the simulation result of the sliding mode-based distributed mass double-swing marine crane control method of the present invention under the condition of non-zero initial swing angle;

[0042] Figure 4 It is the simulation result of the sliding mode-based distributed mass double-swing marine crane control method of the present invention under the condition of distributed mass parameter uncertainty;

[0043] Figure 5 It is the simulation result of the sliding mode-based distributed mass double-swing marine crane control method under external disturbance conditions of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0045] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0046] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "have" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0048] Example 1

[0049] like Figure 1 As shown, this embodiment provides a sliding mode-based distributed mass double-swing marine crane control method, comprising the following steps:

[0050] S1. Based on Lagrangian dynamics analysis, a distributed mass double-pendulum marine crane system model is established.

[0051] S2. Establish the control objectives of the model and construct the fast terminal sliding surfaces of the cantilever, hook, distributed mass load and lifting mechanism respectively.

[0052] S3. Construct the fast terminal sliding surface of the coupling subsystem based on the fast terminal sliding surface of the cantilever, hook and distributed mass load.

[0053] S4. Using the equivalent sliding mode control method, the control models of the coupling subsystem and the lifting mechanism composed of equivalent control and switching control are obtained respectively.

[0054] Distributed mass double-swing marine crane system consists of: Figure 2As shown, it mainly includes a distributed mass load 1, an inclined steel wire rope 2, a hook 3, a lifting steel wire rope 4, a cantilever 5, a lifting mechanism 6, a ship 7, etc. Specifically, the distributed mass load 1 is suspended on the hook 3 through the inclined steel wire rope 2, the hook 3 is connected to the cantilever 5 through the lifting steel wire rope 4, and the cantilever is fixed on the ship 7 and has pitch and rotation degrees of freedom. In addition, the lifting mechanism 6 is also fixed to the ship 7. During operation, the lifting mechanism 6 realizes the lifting and lowering control of the distributed mass load 1 by pulling the lifting steel wire rope 4, and the cantilever 5 is used to control the rotation and pitching movement of the distributed mass load 1.

[0055] Based on the Lagrangian dynamics analysis method, the distributed mass double-pendulum marine crane system model is established as follows:

[0056]

[0057] In the formula, represents the state vector, where ψ j =θ j -ψ,ψ1=θ1-ψ,ψ2=θ2-ψ, ψ represents the earth coordinate system {y g Oz g} and the ship coordinate system {y s Oz s}, ψ j The cantilever is relative to y g The pitch angle of the axis, θ j The cantilever is relative to y s The pitch angle of the axis, ψ1 represents the hook relative to the z g The swing angle of the axis, ψ1 represents the hook relative to z s The oscillation angle of the axis, ψ2 represents the distributed mass load relative to z g The oscillation angle of the axis, θ2 represents the distributed mass load relative to z s The swing angle of the shaft, L1 represents the length of the lifting rope, represents the first-order derivative of the state vector, represents the second-order derivative of the state vector, represents the control input vector, where τ represents the cantilever pitch control force, F represents the lifting mechanism tension, and M(q)∈R 4×4 , G(q)∈R 4×1 They represent the inertia matrix, Coriolis matrix and gravity vector respectively, and are expressed as follows:

[0058]

[0059]

[0060] In the formula,

[0061] m 12 =m 21 =-(m1+m2)L j cos(ψ1-ψ j ),

[0062] m 13 =m 31 =(m1+m2)×L j L1sin(ψ1-ψ j ),

[0063] m 22 =m1+m2,m 14 =m 41 =m2L h L j ×sin(ψ2-ψ j ),

[0064] m 24 =m 42 =m2L h sin(ψ1-ψ2),

[0065]

[0066] m 34 =m 43 =m2L1L h cos(ψ1-ψ2).

[0067]

[0068] Among them, m j , m1 and m2 represent the masses of the cantilever, hook and distributed mass load respectively, L j ,L1,L2 and L p denote the lengths of the cantilever, lifting rope, inclined rope and distributed mass load respectively,

[0069]

[0070] Furthermore, according to the driven and under-driven states, the dynamic model of the distributed mass double-pendulum marine crane can be converted into:

[0071]

[0072] In the formula, M i ∈R 2×2 ,C i ∈R 2×2 ,i=1,2,3,4,U j ∈R 2×1 ,Gj ∈R 2×1 ,j=1,2. In addition, in practical applications, L1 is always positive and satisfies 0<L1≤L 1max , where L 1max represents the longest length of the lifting rope. M4 is a positive definite matrix. Furthermore, the dynamic equation based on the acceleration input mode is:

[0073]

[0074] In the formula,

[0075] Furthermore, the state variables are defined as The distributed mass double pendulum marine crane system can be converted into the following forms:

[0076]

[0077] Where f1 = Υ 12 u2+ξ1,f2=Υ 22 u2+ξ2, d1 and d2 represent disturbance terms.

[0078] The control objectives of the model are:

[0079] (1) The control goal of the marine crane is to transport the distributed mass load to the target location, so the expected goal is:

[0080]

[0081] In the formula, ψ jd =θ jd -ψ,ψ 1d =θ 1d -ψ,ψ 2d =θ 2d -ψ,θ jd ,L 1d ,θ 1d ,θ 2d represent the desired boom pitch angle, lifting rope length, hook swing angle and distributed mass swing angle respectively.

[0082] (2) In addition, the actual ship crane will also be affected by the continuous disturbance of the waves. Therefore, in order to effectively suppress the swing of the distributed mass load, the desired target of the hook and the distributed mass load is set as:

[0083] θ 1d =θ 2d =ψ.

[0084] Further, we can get:

[0085]

[0086] In summary, the system control objectives are:

[0087] ψ j → jd ,L1→L 1d ,θ1→θ 1d ,θ2→θ 2d ,L1∈(0,L 1max ),

[0088] Here, t represents the time variable.

[0089] The fast terminal sliding surfaces of the cantilever, hook, distributed mass load and lifting mechanism are constructed respectively.

[0090] First, the tracking error of the boom angle, the length of the lifting rope, the hook swing angle and the distributed mass load is defined as:

[0091] e j =ψ j -ψ jd ,e L =L1-L 1d ,e1=ψ1-ψ 1d ,e2=ψ2-ψ 2d .

[0092] Where e1 is the tracking error of the hook swing angle, e2 is the tracking error of the distributed mass load, and e L is the tracking error of the lifting rope length, e j is the tracking error of the cantilever angle.

[0093] Furthermore, by taking first-order and second-order differentials of the above formula, we can obtain:

[0094]

[0095] The fast terminal sliding surfaces of the three subsystems of cantilever, hook and distributed mass load are designed as follows:

[0096]

[0097] In the formula, S j is the fast terminal sliding surface of the cantilever, S1 is the fast terminal sliding surface of the hook, S2 is the fast terminal sliding surface of the distributed mass load, and χ i >0, i=1,2,...6, represents the linear part of the sliding surface. Its value directly affects the system's sensitivity to the current error and error change rate, and affects the convergence speed and dynamic response characteristics of the control system. is the intensity of the effect of nonlinear control on the system, which is mainly used to enhance the control performance and accelerate the error convergence of the system. q j ,p j ,q1,p1,q2,p2 are positive odd numbers, defining nonlinear behavior, which is used to adjust the dynamic performance of the system and the actual control requirements, and

[0098]

[0099] To solve the above equations, the disturbance term is ignored first. Based on the dynamic model of the distributed mass double-pendulum marine crane, and the sliding surfaces of the three subsystems are set to zero, the equivalent control inputs of the three subsystems can be solved as follows:

[0100]

[0101] In order to control the underactuated state of the hook and the distributed mass load by the boom luffing motion, the sliding surface of the coupled subsystem is defined as:

[0102]

[0103] in, It is the layered sliding surface parameter, which determines the contribution of different sliding surfaces to the control behavior, including adjusting the priority of errors corresponding to different parameters, realizing comprehensive control of system performance, and increasing the ability to suppress system errors corresponding to parameters.

[0104] Furthermore, to satisfy the Lyapunov stability proof condition The switching control can be solved as:

[0105]

[0106] In the formula, κ>0. At the same time, sat(·) is a saturation function, expressed as follows:

[0107]

[0108] Where Δ is the boundary value of the saturation interval, which determines the upper and lower limits of saturation, and γ is the proportional coefficient.

[0109] Furthermore, based on the equivalent sliding mode principle, the system input u j It can be expressed as:

[0110] u j =u eqj +u eq1 +u eq2 +u swj .

[0111] Substituting the above equivalent control and equivalent switching control, we can get:

[0112]

[0113] In the formula,

[0114]

[0115] Similarly, the sliding surface of the lifting mechanism can be defined as:

[0116]

[0117] Where, χ7, χ8 are the linear parts of the sliding surface, and their values ​​directly affect the system's sensitivity to the current error and error change rate, and affect the convergence speed and dynamic response characteristics of the control system. is the intensity of the effect of nonlinear control on the system, which is mainly used to enhance the control performance and accelerate the error convergence of the system. p h ,q h Defines nonlinear behavior to adjust the system's dynamic performance and actual control requirements, and

[0118] Furthermore, the above equation is differentiated and brought into the saturation switching control defined above. Considering the dynamic equation of the lifting mechanism, based on the defined lifting rope length tracking error, we can obtain:

[0119]

[0120] In the formula,

[0121] Simulation verification:

[0122] Set the control target to be ψ jd =45°,θ 1d =0°,θ 2d =0°. The parameters of the distributed mass double-swing marine crane are set to L j =0.1m,L2=0.2m,L p =0.16m,m j =0.5kg, m1=0.4kg, m2=0.3kg, g=9.8. In addition, u j The control parameters are set as χ1=1.20, χ2=114.08, q j =9,p j =10,χ3=2059.56,χ4=31.96, q1=9, p1=10, χ5=23.76, χ6=257.12, q2=9,p2=10,Δ=0.1, κ=1.31, At the same time, the u2 control parameters are set to χ7=1.0, χ8=0.4, q h =1.0,p h =1.2,Δ h =0.2, κ h =0.2.

[0123] Figure 3 The simulation results of the proposed method under non-zero initial swing angle are shown, where the initial swing angle of the distributed mass load is set to 2° and the lifting rope length is 0.5m from 0 to the target position. Figure 3 The simulation results show that the proposed method can quickly suppress the initial swing angle when the rope length changes, which proves the stability and adaptability of the proposed method.

[0124] Figure 4 The simulation results of the proposed method under the condition of distributed mass parameter uncertainty are shown. The actual mass of the distributed mass load of the ship crane is 3.5 kg, but the mass of the distributed mass load in the controller is 0.5 kg, and the length of the lifting rope is 0.5 m from 0 to the target position. Figure 4 The simulation results show that the proposed method can still achieve the goals of precise positioning and swing suppression when there is uncertainty in the distributed mass load parameters.

[0125] Figure 5 The simulation results of the proposed method under external disturbance are shown. The length of the lifting rope is from 0 to the target position of 0.5m, and a pulse disturbance with an amplitude of 4° is applied at 10s; at 20-21s, in order to simulate the periodic sea breeze disturbance, a sinusoidal disturbance with an amplitude of 3° and a period of 3rad / s is applied; at 20-21s, in order to simulate the random disturbance of the sea breeze, a random disturbance with a maximum and minimum amplitude of 4° and -4°, respectively, and a sampling time of 0.1s is applied. According to Figure 5 The experimental results show that the proposed method can effectively suppress load swing and accurately position the load while taking into account the effective processing of external disturbances.

[0126] Example 2

[0127] This embodiment provides a sliding mode-based distributed mass double-swing marine crane control system, including:

[0128] The model building module is configured to: build a distributed mass double-pendulum marine crane system model based on Lagrangian dynamics analysis;

[0129] The sliding surface establishment module is configured to: establish the control target of the model and construct the fast terminal sliding surfaces of the cantilever, hook, distributed mass load and lifting mechanism respectively;

[0130] The sliding surface establishment module of the coupling subsystem is configured to: construct a fast terminal sliding surface of the coupling subsystem according to the fast terminal sliding surfaces of the cantilever, the hook and the distributed mass load;

[0131] The control module is configured to: utilize an equivalent sliding mode control method to obtain control models of a coupling subsystem and a lifting mechanism composed of equivalent control and switching control, respectively.

[0132] It should be noted that the above modules correspond to the steps described in Example 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Example 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer executable instructions.

[0133] In further embodiments, there is also provided:

[0134] An electronic device includes a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method described in Embodiment 1 is performed. For the sake of brevity, it will not be described in detail here.

[0135] It should be understood that in this embodiment, the processor may be a central processing unit CPU, and the processor may also be other general-purpose processors, digital signal processors DSP, application-specific integrated circuits ASIC, off-the-shelf programmable gate arrays FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0136] The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0137] A computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, the method described in Example 1 is completed.

[0138] The method in Example 1 can be directly embodied as a hardware processor, or a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware. To avoid repetition, it is not described in detail here.

[0139] A computer program product includes a computer program, and when the computer program is executed by a processor, the method described in embodiment 1 is implemented.

[0140] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer executable instructions, such as instructions included in a program module, which are executed in a device on a real or virtual processor of the target to perform the process / method as described above. Typically, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functions of program modules can be combined or divided between program modules as needed. Machine executable instructions for program modules can be executed in local or distributed devices. In distributed devices, program modules can be located in local and remote storage media.

[0141] The computer program code for implementing the method of the present invention can be written in one or more programming languages. These computer program codes can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the computer or other programmable data processing device, causes the function / operation specified in the flow chart and / or block diagram to be implemented. The program code can be executed completely on a computer, partially on a computer, as an independent software package, partially on a computer and partially on a remote computer or completely on a remote computer or server.

[0142] In the context of the present invention, computer program codes or related data may be carried by any appropriate carrier to enable a device, apparatus or processor to perform the various processes and operations described above. Examples of carriers include signals, computer readable media, and the like. Examples of signals may include electrical, optical, radio, acoustic or other forms of propagation signals, such as carrier waves, infrared signals, and the like.

[0143] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0144] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A sliding mode-based distributed mass double-swing marine crane control method, characterized in that: The following steps are involved: Based on Lagrangian dynamics analysis, a distributed mass double-pendulum marine crane system model is established; The control objectives of the model are established, and the fast terminal sliding surfaces of the cantilever, hook, distributed mass load and lifting mechanism are constructed respectively; According to the fast terminal sliding surface of the cantilever, hook and distributed mass load, the fast terminal sliding surface of the coupling subsystem is constructed; By using the equivalent sliding mode control method, the control models of the coupling subsystem and the lifting mechanism consisting of equivalent control and switching control are obtained respectively.

2. The sliding mode-based distributed mass double-swing marine crane control method according to claim 1, characterized in that: The control objectives of the model include transporting the distributed mass load to the target position and suppressing the swing of the distributed mass load during transportation.

3. The sliding mode-based distributed mass double-swing marine crane control method according to claim 1, characterized in that: The fast terminal sliding surface of the cantilever, hook, distributed mass load and lifting mechanism is: Among them, S j is the fast terminal sliding surface of the cantilever, S1 is the fast terminal sliding surface of the hook, S2 is the fast terminal sliding surface of the distributed mass load, S h is the fast terminal sliding surface of the lifting mechanism, e1 is the tracking error of the hook swing angle, e2 is the tracking error of the distributed mass load, and e L is the tracking error of the lifting rope length, e j is the tracking error of the cantilever angle.

4. The sliding mode-based distributed mass double-swing marine crane control method according to claim 1, characterized in that: The fast terminal sliding surface of the coupled subsystem is: in, is the layered sliding surface parameter, and 5. The sliding mode-based distributed mass double-swing marine crane control method according to claim 1, characterized in that: The system model of the distributed mass double-swing marine crane is: in, represents the state vector, represents the control input vector, M(q)∈R 4×4 represents the inertia matrix, represents the Coriolis matrix, G(q)∈R 4×1 represents the gravity vector, where R represents a real number.

6. The sliding mode-based distributed mass double-swing marine crane control method according to claim 1, characterized in that: The control model of the coupled subsystem is: The control model of the lifting mechanism is:

7. A distributed mass double-swing marine crane control system based on sliding mode, characterized in that: include: The model building module is configured to: build a distributed mass double-pendulum marine crane system model based on Lagrangian dynamics analysis; The sliding surface establishment module is configured to: establish the control target of the model and construct the fast terminal sliding surfaces of the cantilever, hook, distributed mass load and lifting mechanism respectively; The sliding surface establishment module of the coupling subsystem is configured to: construct a fast terminal sliding surface of the coupling subsystem according to the fast terminal sliding surfaces of the cantilever, the hook and the distributed mass load; The control module is configured to: utilize an equivalent sliding mode control method to obtain control models of a coupling subsystem and a lifting mechanism composed of equivalent control and switching control, respectively.

8. An electronic device, characterized in that: The method comprises a memory and a processor and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method according to any one of claims 1 to 6 is completed.

9. A computer-readable storage medium, characterized in that: Used to store computer instructions, which, when executed by a processor, complete the method described in any one of claims 1 to 6.

10. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 6.

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