A Sliding Mode-Based Distributed Mass Bipolar Marine Crane Control Method and System

Abstract

This invention belongs to the field of crane control technology and discloses a control method and system for a distributed mass double-pendulum marine crane based on sliding mode control. The method includes: establishing a system model of the distributed mass double-pendulum marine crane based on Lagrange dynamics analysis; establishing the control objective of the model and constructing rapid terminal sliding surfaces for the cantilever, hook, distributed mass load, and lifting mechanism; constructing rapid terminal sliding surfaces of the coupled subsystem based on the rapid terminal sliding surfaces of the cantilever, hook, and distributed mass load; and using an equivalent sliding mode control method to obtain control models for the coupled subsystem and lifting mechanism, consisting of equivalent control and switching control. This invention effectively suppresses load sway while effectively handling the uncertainty of distributed mass load parameters and external disturbances, significantly improving the working efficiency and safety of marine cranes and contributing to the improvement of the intelligence and automation level of handling equipment in my country.

Description

Technical Field

[0001] This invention relates to the field of crane control technology, and in particular to a control method and system for a distributed mass double pendulum marine crane based on sliding mode. Background Technology

[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 type of material 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 underactuated system, marine cranes transport goods by tilting and rotating their booms. In other words, it is difficult to directly control the movement of the load being lifted, which poses a serious challenge to their control.

[0004] Compared to land-based cranes, marine cranes are not only affected by external disturbances such as wind, but also inevitably by ocean waves. Since the crane base is a moving platform, its control presents significant challenges. Therefore, most existing marine cranes are operated manually. However, marine cranes operate in complex environments with limited space. For example, during cargo handling between ships, underdrive of the load and complex external disturbances can easily cause the lifted load to collide with the ship's hold or surrounding equipment, seriously threatening the safety of equipment and personnel.

[0005] Furthermore, in recent years, the construction of numerous major equipment and engineering projects, such as offshore drilling platforms and the Hong Kong-Zhuhai-Macau Bridge, has placed higher demands on the positioning accuracy and hoisting stability of large cargo (i.e., distributed mass loads). Meanwhile, existing crane control research largely focuses on point mass load hoisting methods, neglecting 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 on drilling platforms make existing research difficult to apply directly. Summary of the Invention

[0006] To address the aforementioned issues, this invention proposes a control method and system for a distributed mass double pendulum marine crane based on sliding mode. This method effectively suppresses the swaying 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 marine cranes and contributing to the improvement of the intelligence and automation level of handling equipment in my country.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

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

[0009] A distributed mass double pendulum marine crane system model was established based on Lagrange dynamics analysis.

[0010] Establish the control objectives of the model, and construct the rapid end sliding surfaces for the cantilever, hook, distributed mass load, and lifting mechanism respectively;

[0011] Based on the fast terminal sliding surface of the cantilever, hook and distributed mass load, construct the fast terminal sliding surface of the coupled subsystem;

[0012] Using the equivalent sliding mode control method, control models for the coupled subsystem and the lifting mechanism, consisting of equivalent control and switching control, are obtained respectively.

[0013] As an alternative implementation, the model's control objectives include transporting the distributed mass load to the target location and suppressing the swaying of the distributed mass load during transportation.

[0014] As an alternative implementation, the rapid end-of-life sliding surface of the cantilever, hook, distributed mass load, and lifting mechanism is:

[0015]

[0016] Among them, S j S1 is the rapid end-of-life sliding surface of the cantilever, S2 is the rapid end-of-life sliding surface of the hook, and S3 is the rapid end-of-life sliding surface of the distributed mass load. h For the rapid end-slip 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 e represents the tracking error for the length of the lifting rope. j This represents the tracking error of the cantilever angle.

[0017] As an alternative implementation, the fast termination sliding surface of the coupling subsystem is:

[0018]

[0019] in, For the parameters of the layered sliding surface, and

[0020] As an alternative implementation method, the distributed mass double-pendulum marine crane system model is as follows:

[0021]

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

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

[0024]

[0025] The control model for the lifting mechanism is as follows:

[0026]

[0027] Secondly, the present invention provides a sliding mode-based distributed mass double pendulum 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 Lagrange dynamics analysis;

[0029] The sliding surface creation module is configured to: establish the control objectives of the model and construct rapid terminal sliding surfaces for the cantilever, hook, distributed mass load, and lifting mechanism, respectively.

[0030] The sliding surface creation module of the coupled subsystem is configured to: construct the fast terminal sliding surface of the coupled subsystem based on the fast terminal sliding surfaces of the cantilever, hook and distributed mass load;

[0031] The control module is configured to use the equivalent sliding mode control method to obtain the control models of the coupled subsystem and the lifting mechanism, which consist of equivalent control and switching control, respectively.

[0032] Thirdly, the present invention provides an electronic device including a memory and a processor, and computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, perform the method described in the first aspect.

[0033] Fourthly, the present invention provides a computer-readable storage medium for storing computer instructions, which, when executed by a processor, perform the method described in the first aspect.

[0034] Fifthly, the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the first aspect.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] This invention proposes a sliding mode control method and system for a distributed mass double-pendulum marine crane. First, based on Lagrange dynamics analysis, a system model of the distributed mass double-pendulum marine crane is established and converted into an acceleration input control mode. Based on this, considering the variation in lifting rope length, a fast terminal sliding mode control method is proposed, which effectively suppresses load swaying while effectively handling uncertainties in distributed mass load parameters and external disturbances. The proposed method is designed for complex offshore lifting conditions involving distributed mass loads (large wind turbine blades, offshore drilling platform construction, bridge housings, etc.), closely approximating manual operation habits. It is suitable for both automatic control and semi-automatic control with manual intervention, significantly improving the working efficiency and safety of offshore marine cranes and enhancing the intelligence and automation level of my country's material handling equipment.

[0037] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. Attached Figure Description

[0038] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0039] Figure 1 The flowchart shows the control method for a sliding mode-based distributed mass double pendulum marine crane of the present invention.

[0040] Figure 2 This is a schematic diagram of the structure of the distributed mass double pendulum ship crane of the present invention;

[0041] Figure 3 The simulation results of the sliding mode-based distributed mass double pendulum ship crane control method of the present invention under the condition of non-zero initial swing angle are shown.

[0042] Figure 4 The simulation results of the sliding mode-based distributed mass double pendulum ship crane control method of the present invention under the condition of distributed mass parameter uncertainty are shown.

[0043] Figure 5 The simulation results of the sliding mode-based distributed mass double pendulum ship crane control method of the present invention under external disturbance conditions are shown. Detailed Implementation

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

[0045] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0046] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0048] Example 1

[0049] like Figure 1 As shown, this embodiment provides a control method for a distributed mass double pendulum marine crane based on sliding mode, including the following steps:

[0050] S1. Based on Lagrange 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 rapid terminal sliding surfaces for the cantilever, hook, distributed mass load and lifting mechanism respectively.

[0052] S3. Based on the fast terminal sliding surface of the cantilever, hook and distributed mass load, construct the fast terminal sliding surface of the coupled subsystem.

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

[0054] The distributed mass double pendulum marine crane system consists of: such as Figure 2As shown, the system mainly includes a distributed mass load 1, a cable-stayed wire rope 2, a hook 3, a lifting wire rope 4, a cantilever 5, a lifting mechanism 6, and a boat 7. Specifically, the distributed mass load 1 is suspended from the hook 3 by the cable-stayed wire rope 2. The hook 3 is connected to the cantilever 5 by the lifting wire rope 4. The cantilever is fixed to the boat 7 and has pitch and rotation degrees of freedom. Furthermore, the lifting mechanism 6 is also fixed to the boat 7. During operation, the lifting mechanism 6 controls the lifting and lowering of the distributed mass load 1 by pulling the lifting wire rope 4, while the cantilever 5 controls the rotation and pitch movements of the distributed mass load 1.

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

[0056]

[0057] In the formula, Let ψ represent 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 ship coordinate system {y s Oz s The included angle ψ j Indicates the cantilever relative to y g The pitch angle of the axis, θ j Indicates the cantilever relative to y s The pitch angle of the axis, ψ1, represents the hook relative to 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. The first derivative of the state vector is represented by... The second derivative of the state vector is represented by... Let M(q) represent 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 Let represent the inertia matrix, Coriolis matrix, and gravity vector, respectively, 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] Where, m j m1 and m2 represent the masses of the cantilever, hook, and distributed mass load, respectively, and L j L1, L2 and L p These represent the lengths of the cantilever, lifting rope, guy rope, and distributed mass load, respectively.

[0069]

[0070] Furthermore, based on the driven and underactuated states, the dynamic model of the distributed mass double pendulum marine crane can be transformed 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. Furthermore, in practical applications, L1 is always a positive value and satisfies 0 < L1 ≤ L 1max , where L 1max This represents the maximum length of the lifting rope. M4 is a positive definite matrix. Therefore, the dynamic equation based on the acceleration input mode can be obtained as follows:

[0073]

[0074] In the formula,

[0075] Furthermore, the state variable is defined as The distributed mass double-pendulum marine crane system can be converted into the following form:

[0076]

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

[0078] The control objective of establishing the model:

[0079] (1) The control objective of the marine crane is to transport the distributed mass load to the target location, then the desired objective 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 These represent the desired cantilever pitch angle, hoisting rope length, hook swing angle, and distributed mass swing angle, respectively.

[0082] (2) In addition, actual marine cranes will also be affected by the continuous disturbance of sea waves. Therefore, in order to effectively suppress the swaying of the distributed mass load, the expected targets for the hook and the distributed mass load are set as follows:

[0083] θ 1d =θ 2d =ψ.

[0084] Furthermore, we can obtain:

[0085]

[0086] In summary, the system control objective is as follows:

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

[0088] Where t represents the time variable.

[0089] Rapid terminal sliding surfaces are constructed for cantilever, hook, distributed mass load and lifting mechanism respectively.

[0090] First, the tracking errors for the cantilever angle, lifting rope length, hook swing angle, and distributed mass load are defined as follows:

[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 e represents the tracking error for the length of the lifting rope. j This represents the tracking error of the cantilever angle.

[0093] Furthermore, by performing first and second-order differentials on the above equation, we obtain:

[0094]

[0095] The fast-end sliding surfaces for the three subsystems—cantilever, hook, and distributed mass load—are designed as follows:

[0096]

[0097] In the formula, S j S1 is the rapid end slipform surface of the cantilever, S2 is the rapid end slipform surface of the hook, and S3 is the rapid end slipform surface of the distributed mass load. 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 the rate of change of the error, thus affecting the convergence speed and dynamic response characteristics of the control system. This represents the strength of the nonlinear control effect on the system, primarily used to enhance control performance and accelerate system error convergence. q j ,p j q1, p1, q2, p2 are positive odd numbers, defining nonlinear behavior used to adjust the dynamic performance of the system and meet practical control requirements, and

[0098]

[0099] To solve the above equations, neglecting the disturbance term, based on the dynamic model of the distributed mass double pendulum marine crane and setting the sliding surfaces of the three subsystems to zero, the equivalent control inputs of the three subsystems can be obtained as follows:

[0100]

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

[0102]

[0103] in, These are the parameters of the layered sliding surface, which determine the contribution of different sliding surfaces to the control behavior. This includes adjusting the priority of errors corresponding to different parameters, achieving comprehensive control of system performance, and increasing the ability to suppress system errors corresponding to the parameters.

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

[0105]

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

[0107]

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

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

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

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

[0112]

[0113] In the formula,

[0114]

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

[0116]

[0117] In the formula, χ7 and χ8 represent the linear components of the sliding surface. Their values ​​directly affect the system's sensitivity to the current error and the rate of change of the error, thus influencing the convergence speed and dynamic response characteristics of the control system. Furthermore, χ7 > 0 and χ8 > 0. This represents the strength of the nonlinear control effect on the system, primarily used to enhance control performance and accelerate system error convergence. p h ,q h Nonlinear behavior is defined to adjust the dynamic performance of the system and meet practical control requirements, and

[0118] Furthermore, differentiating the above equation and substituting it 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 as ψ jd =45°,θ 1d =0°,θ 2d =0°. The parameter setting for the distributed mass double pendulum marine crane is 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 follows: 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, Meanwhile, the control parameters for u2 are set to χ7 = 1.0 and χ8 = 0.4. q h =1.0,p h =1.2,Δ h =0.2, κ h =0.2.

[0123] Figure 3 Simulation results of the proposed method under a non-zero initial swing angle are presented, where the initial swing angle of the distributed mass load is set to 2°, and the lifting rope length is 0.5m from 0m to the target position. Figure 3 Simulation results show that the proposed method can quickly suppress the initial swing angle under varying rope length conditions, demonstrating the stability and adaptability of the proposed method.

[0124] Figure 4 Simulation results of the proposed method under conditions of uncertainty in distributed mass parameters are presented. In this case, the actual mass of the distributed mass load on the marine crane is 3.5 kg, but the mass of the distributed mass load in the controller is 0.5 kg, and the lifting rope length increases from 0 to 0.5 m to the target position. According to... Figure 4 Simulation results show that the proposed method can still achieve the goals of accurate positioning and sway suppression even when there is uncertainty in the parameters of the distributed mass load.

[0125] Figure 5 Simulation results of the proposed method under external disturbances are presented. Specifically, the lifting rope length is increased from 0 to the target position of 0.5m. A pulse disturbance with an amplitude of 4° is applied at 10s; from 20-21s, to simulate periodic sea wind disturbance, a sinusoidal disturbance with an amplitude of 3° and a period of 3rad / s is applied; and from 20-21s, to simulate random sea wind disturbance, random disturbances with maximum and minimum amplitudes of 4° and -4°, respectively, and a sampling time of 0.1s, are applied. Based on... Figure 5 Experimental results show that the proposed method can effectively suppress load swing and achieve accurate positioning while also effectively handling external disturbances.

[0126] Example 2

[0127] This embodiment provides a sliding mode-based distributed mass double pendulum 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 Lagrange dynamics analysis;

[0129] The sliding surface creation module is configured to: establish the control objectives of the model and construct rapid terminal sliding surfaces for the cantilever, hook, distributed mass load, and lifting mechanism, respectively.

[0130] The sliding surface creation module of the coupled subsystem is configured to: construct the fast terminal sliding surface of the coupled subsystem based on the fast terminal sliding surfaces of the cantilever, hook and distributed mass load;

[0131] The control module is configured to use the equivalent sliding mode control method to obtain the control models of the coupled subsystem and the lifting mechanism, which consist of equivalent control and switching control, respectively.

[0132] It should be noted that the above modules correspond to the steps described in Embodiment 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 content disclosed in Embodiment 1. It should also 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, the following is also provided:

[0134] An electronic device includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, perform the method described in Embodiment 1. For brevity, further details are omitted here.

[0135] It should be understood that in this embodiment, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

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

[0137] A computer-readable storage medium for storing computer instructions, which, when executed by a processor, perform the method described in Embodiment 1.

[0138] The method in Example 1 can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor. The software modules can reside in readily available storage media in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, a detailed description is not provided here.

[0139] A computer program product includes a computer program that, when executed by a processor, implements the method described in Embodiment 1.

[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 program modules, which execute in a device on a target real or virtual processor to perform the processes / methods 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 functionality of program modules can be combined or divided among program modules as needed. The machine-executable instructions for the program modules can execute within a local or distributed device. In a distributed device, the program modules can reside in both local and remote storage media.

[0141] The computer program code used to implement the methods of the present invention may be written in one or more programming languages. This computer program code may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the computer or other programmable data processing device, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a computer, partially on a computer, as a stand-alone software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.

[0142] In the context of this invention, computer program code or related data may be carried by any suitable 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 so on. Examples of signals may include electrical, optical, radio, sound, or other forms of propagation signals, such as carrier waves, infrared signals, etc.

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

[0144] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this 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 without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A control method for a distributed mass double pendulum marine crane based on sliding mode, characterized in that, Includes the following steps: A distributed mass double pendulum marine crane system model was established based on Lagrange dynamics analysis. Establish the control objectives of the model, and construct the rapid end sliding surfaces for the cantilever, hook, distributed mass load, and lifting mechanism respectively; Based on the fast terminal sliding surface of the cantilever, hook and distributed mass load, construct the fast terminal sliding surface of the coupled subsystem; Using the equivalent sliding mode control method, control models for the coupled subsystem and the lifting mechanism, consisting of equivalent control and switching control, are obtained respectively. The control objectives include transporting the distributed mass load to the target location and suppressing the swaying of the distributed mass load during transportation; The rapid end slip surface for cantilever, hook, distributed mass load, and lifting mechanism is: in, S j For the rapid end sliding surface of the cantilever, S 1 represents the quick-connect slip surface of the hook. S 2 represents the fast terminal sliding surface for distributed mass loads. S h For the rapid end slipform surface of the lifting mechanism, e 1 represents the tracking error of the hook swing angle. e 2 represents the tracking error of the distributed mass load. e L To account for the tracking error of the lifting rope length, e j The tracking error is for the cantilever angle. Represented as the linear portion of the sliding surface. i =1,2,...8, To determine the intensity of the effect of nonlinear control on the sliding mode-based distributed mass double pendulum marine crane control system, , For positive odd numbers, nonlinear behavior is defined to adjust the dynamic performance and practical control requirements of a sliding mode-based distributed mass double pendulum marine crane control system. To determine the intensity of the effect of nonlinear control on the sliding mode-based distributed mass double pendulum marine crane control system, The non-linear behavior is defined, and .

2. The control method for a distributed mass double-pendulum marine crane based on sliding mode as described in claim 1, characterized in that, The fast terminal sliding surface of the coupled subsystem is: in, For the parameters of the layered sliding surface, and , .

3. The control method for a distributed mass double-pendulum marine crane based on sliding mode as described in claim 1, characterized in that, The distributed mass double pendulum marine crane system model is as follows: in, Represents the state vector. Represents the control input vector. Represents the inertia matrix. Represents the Coriolis matrix. Denotes the gravity vector, where Represent real numbers, , , , Representing the Earth coordinate system Ship coordinate system The included angle, Indicates the cantilever relative to The pitch angle of the axis, Indicates the cantilever relative to The pitch angle of the axis, Indicates the hook relative to The swing angle of the shaft, Indicates distributed quality load relative to The swing angle of the shaft, Indicates the hook relative to The swing angle of the shaft, Indicates distributed quality load relative to The swing angle of the shaft, L 1 indicates the length of the lifting rope. This indicates the cantilever pitch control force. This indicates the pulling force of the lifting mechanism.

4. A sliding mode-based distributed mass double-pendulum marine crane control system, characterized in that, The control method for a distributed mass double pendulum marine crane based on sliding mode as described in any one of claims 1-3 includes: The model building module is configured to: build a distributed mass double pendulum marine crane system model based on Lagrange dynamics analysis; The sliding surface creation module is configured to: establish the control objectives of the model and construct rapid terminal sliding surfaces for the cantilever, hook, distributed mass load, and lifting mechanism, respectively. The sliding surface creation module of the coupled subsystem is configured to: construct the fast terminal sliding surface of the coupled subsystem based on the fast terminal sliding surfaces of the cantilever, hook and distributed mass load; The control module is configured to use the equivalent sliding mode control method to obtain the control models of the coupled subsystem and the lifting mechanism, which consist of equivalent control and switching control, respectively.

5. An electronic device, characterized in that, It includes a memory and a processor, as well as computer instructions stored in the memory and running on the processor, which, when executed by the processor, perform the method according to any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, Used to store computer instructions, which, when executed by a processor, perform the method described in any one of claims 1-3.

7. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the method described in any one of claims 1-3.

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