Anti-swing positioning control method for bridge type grab ship unloader based on self-adaptive decoupling sliding mode

CN122009969APending Publication Date: 2026-05-12SUZHOU QUANTUM INTELLIGENT TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SUZHOU QUANTUM INTELLIGENT TECH CO LTD
Filing Date
2025-12-29
Publication Date
2026-05-12

AI Technical Summary

Technical Problem

Existing anti-sway positioning control methods for bridge grab unloaders are affected by factors such as wind disturbance in practical applications, resulting in decreased control performance. Furthermore, traditional sliding mode control suffers from chattering issues, affecting operational efficiency and safety.

Method used

An adaptive decoupled sliding mode control method is adopted. By establishing a dynamic model, defining state variables, and constructing an adaptive decoupled sliding mode master controller, the trolley can be positioned quickly and the grab bucket can be swayed. Adaptive intermediate variables and reaching laws are designed to adapt to different error conditions and reduce chattering.

Benefits of technology

It achieves rapid trolley positioning, excellent gripper sway suppression, improved system stability and robustness, adaptability to complex operating environments, and enhanced operational efficiency and safety.

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Abstract

The invention provides an anti-swing positioning control method for a bridge type grab ship unloader based on a self-adaptive decoupling sliding mode. The anti-swing positioning control method comprises the following steps: S1, determining key operation parameters of equipment; s2, establishing an equipment dynamic model; s3, defining state variables and converting the subsystems; s4, defining a control error and constructing a primary sliding mode surface; s5, designing a self-adaptive intermediate variable and constructing a secondary sliding mode surface; s6, constructing a self-adaptive decoupling sliding mode master controller; and S7, realizing anti-swing positioning closed-loop control. Rapid in-place of the trolley and swing suppression of the grab bucket are achieved.
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