A control method and system for a distributed load-oriented mast crane

Abstract

This invention belongs to the field of crane automatic control technology, and provides a control method and system for a mast crane oriented towards distributed loads. The method includes: acquiring a double-pendulum dynamic model of the mast crane oriented towards distributed loads; analyzing the coupling relationship between state variables in the double-pendulum dynamic model to determine the control objective of the mast crane; determining the lumped uncertainty term of the mast crane based on the acquired double-pendulum dynamic model and the control objective; performing online estimation of the determined lumped uncertainty term of the mast crane based on time delay estimation to obtain a time delay estimation compensation term; performing non-singular terminal sliding mode control on the mast crane in combination with the obtained time delay estimation compensation term to obtain the control torque of the mast crane boom drive motor; and completing the closed-loop control of the mast crane based on the obtained control torque and the real-time attitude of the mast crane.

Description

Technical Field

[0001] This invention belongs to the field of crane automatic control technology, specifically relating to a control method and system for mast cranes oriented towards distributed loads. Background Technology

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

[0003] Underactuated systems, which drive multiple degrees of freedom with fewer control inputs, reducing energy consumption and hardware costs, have become a hot topic in automation control research in modern industrial logistics and large-scale engineering construction. Mast cranes, consisting of a rotating boom, lifting ropes, hooks, and load, are a typical example of nonlinear underactuated systems.

[0004] In engineering, mast cranes are widely used in the hoisting and transportation of large-scale engineering structures, such as the hoisting of precast bridge components, the installation of offshore wind turbine blades, and the transportation of aerospace structural components. They are used to achieve stable positioning and vibration suppression control of heavy-load objects, and therefore have become an important object for studying the dynamics and control problems of complex underactuated systems.

[0005] Mast cranes, when carrying distributed, large-mast loads, exhibit significant swaying and torsion, displaying a complex double-pendulum coupling effect—the primary sway of the hook and the secondary sway of the load relative to the hook. This greatly increases the difficulty of dynamic modeling and control. Existing mast crane control methods have certain limitations. On the one hand, most control strategies are based on simplified point-mast models, neglecting the distributed characteristics of the load and failing to effectively describe the overall kinematics and dynamics of the mast crane. On the other hand, some methods simplify controller design by linearizing the system, but this may lead to the loss of important nonlinear characteristics, thus affecting control performance. Therefore, it is necessary to design suitable control methods to improve the control performance and vibration suppression of distributed load mast crane systems. Summary of the Invention

[0006] To address the aforementioned issues, this invention proposes a control method and system for mast cranes with distributed loads. By combining sliding mode control with time delay estimation, the system achieves stable convergence of the system state and stable positioning of the boom angle while effectively suppressing the swaying of the hook and distributed loads, thereby improving the system's control performance and operating efficiency.

[0007] According to some embodiments, the first aspect of the present invention provides a control method for a mast crane oriented towards distributed loads, employing the following technical solution: A control method for a mast crane oriented to distributed loads includes: Obtain the double pendulum dynamics model of a mast crane for distributed loads; Analyze the coupling relationship between state variables in the double pendulum dynamics model to determine the control objective of the mast crane; Based on the obtained double pendulum dynamics model and control objective, the lumped uncertainty term of the mast crane is determined; Based on the time delay estimation, the lumped uncertainty of the mast crane is estimated online to obtain the time delay estimation compensation term; By combining the obtained time delay estimation compensation term, non-singular terminal sliding mode control is performed on the mast crane to obtain the control torque of the mast crane boom drive motor; Based on the obtained control torque and the real-time attitude of the mast crane, closed-loop control of the mast crane is completed.

[0008] It should be noted that the lumped uncertainty term of the mast crane is to unify all uncertainties in the mast crane, such as parameter uncertainty, unmodeled dynamics, external disturbances, modeling errors, and parasitic effects, into an equivalent term, which facilitates overall estimation and compensation in controller design.

[0009] As a further technical limitation, the obtained double-pendulum dynamics model of the mast crane oriented towards distributed loads is as follows: ;in, This represents the state vector of the mast crane. , Indicates the boom pitch angle. Indicates the swing angle of the hook. Indicates the deflection angle of the distributed load; The inertia matrix representing the mast crane; The matrix representing the Coriolis force and centripetal force of a mast crane; The term representing the gravity of the mast crane; This indicates the damping term of the mast crane; This represents the control input vector of the mast crane.

[0010] As a further technical limitation, the obtained time delay estimation compensation term for ;in, This indicates the unknown dynamics of the mast crane. Indicates time, Indicates the delay time. This represents the estimated value of the uncertainty parameter.

[0011] As a further technical limitation, a non-singular fast terminal sliding surface is used in the process of performing non-singular terminal sliding mode control of the mast crane by combining the obtained time delay estimation compensation term. ,Right now ;in, For the error of the mast crane, Indicates a positive control gain. A positive odd number that satisfies the condition. and .

[0012] As a further technical limitation, the real-time attitude of the mast crane includes at least the boom pitch angle, hook swing angle, and load swing angle of the mast crane.

[0013] As a further technical limitation, the control objectives of the mast crane include at least adjusting the pitch angle of the mast crane boom to a target angle by controlling the torque, and suppressing the swing of the hook and distributed load so that their swing angles converge to a balanced state.

[0014] According to some embodiments, a second aspect of the present invention provides a control system for a mast crane oriented towards distributed loads, employing the following technical solution: A control system for a mast crane oriented to distributed loads includes: The acquisition module is configured to acquire the double-pendulum dynamics model of a mast crane for distributed loads; The analysis module is configured to analyze the coupling relationship between state variables in the double pendulum dynamics model and determine the control objective of the mast crane; The compensation module is configured to determine the lumped uncertainty of the mast crane based on the acquired double pendulum dynamics model and control objective; and to perform online estimation of the determined lumped uncertainty of the mast crane based on time delay estimation to obtain the time delay estimation compensation term. The calculation module is configured to perform non-singular terminal sliding mode control on the mast crane by combining the obtained time delay estimation compensation term to obtain the control torque of the mast crane boom drive motor; The control module is configured to perform closed-loop control of the mast crane based on the obtained control torque and the real-time attitude of the mast crane.

[0015] According to some embodiments, a third aspect of the present invention provides a computer-readable storage medium, employing the following technical solution: A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the control method for a mast crane oriented towards a distributed load as described in the first aspect of the present invention.

[0016] According to some embodiments, the fourth aspect of the present invention provides an electronic device, which adopts the following technical solution: An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps in the control method for a mast crane oriented to a distributed load as described in the first aspect of the present invention.

[0017] According to some embodiments, the fifth aspect of the present invention provides a computer program product, which adopts the following technical solution: A computer program product includes software code, wherein the program in the software code performs the steps of the control method for a mast crane oriented to a distributed load as described in the first aspect of the present invention.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention addresses the issue of stable positioning and vibration suppression control in mast cranes under distributed mass loads, aiming to achieve stable positioning and vibration suppression control under conditions of model uncertainty and external disturbances. It employs a method combining sliding mode control and time delay estimation for mast crane vibration suppression and positioning control. The time delay estimation mechanism compensates for the uncertain dynamics of the mast crane, improving overall control performance. This enhances the mast crane's disturbance rejection capability, achieving positioning and vibration suppression while ensuring its stability. This method has application value in fields such as large-scale structure hoisting, prefabricated building construction, and marine engineering. Attached Figure Description

[0019] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0020] Figure 1 This is a flowchart of a control method for a mast crane oriented towards distributed loads in Embodiment 1 of the present invention. Figure 2 The boom pitch angle is the control method for a mast crane oriented towards distributed loads in Embodiment 1 of the present invention. Hook swing angle Load swing angle and driving torque A schematic diagram of the simulation results; Figure 3 The boom pitch angle is a change in the model parameters in Embodiment 1 of the present invention. Hook swing angle Load swing angle and driving torque A schematic diagram of the simulation results; Figure 4 This is a structural block diagram of the control system for a mast crane oriented towards distributed loads in Embodiment 2 of the present invention. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] 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.

[0023] 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 scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0025] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0026] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0027] Example 1 Embodiment 1 of the present invention introduces a control method for a mast crane oriented to distributed loads.

[0028] like Figure 1 The control method for a mast crane oriented towards distributed loads, as shown, includes: Obtain the double pendulum dynamics model of a mast crane for distributed loads; Analyze the coupling relationship between state variables in the double pendulum dynamics model to determine the control objective of the mast crane; Based on the obtained double pendulum dynamics model and control objective, the lumped uncertainty term of the mast crane is determined; Based on the time delay estimation, the lumped uncertainty of the mast crane is estimated online to obtain the time delay estimation compensation term; By combining the obtained time delay estimation compensation term, non-singular terminal sliding mode control is performed on the mast crane to obtain the control torque of the mast crane boom drive motor; Based on the obtained control torque and the real-time attitude of the mast crane, closed-loop control of the mast crane is completed.

[0029] This embodiment analyzes the dynamic model of a mast crane system based on distributed loads and proposes a sliding mode vibration suppression and positioning control method with time delay estimation compensation. By combining sliding mode control with time delay estimation method, the controller is designed to effectively suppress the swing of the hook and distributed load while achieving stable convergence of system state and stable positioning of boom angle, thereby improving the control performance and operating efficiency of the system.

[0030] Based on the Euler-Lagrange method, a dynamic model of a mast crane system considering distributed loads is established, which can be expressed as: ; ; ; in, and These represent the distributed load, the mass of the boom, and the mass of the hook of the mast crane, respectively. and These represent the rope lengths between the boom apex and the hook, and between the hook and the distributed load, respectively. Indicates the length of the distributed load; and These represent the boom pitch angle, the hook swing angle relative to the vertical direction, and the distributed load deflection angle relative to the horizontal direction, respectively. The distance between the center of mass of the hook and the distributed load is defined as... .

[0031] In this embodiment, the dynamic model can be expressed as follows: ;in,

[0032] in, This represents the state vector of the mast crane. , Indicates the boom pitch angle. Indicates the swing angle of the hook. Indicates the deflection angle of the distributed load; The inertia matrix representing the mast crane; The matrix representing the Coriolis force and centripetal force of a mast crane; The term representing the gravity of the mast crane; This indicates the damping term of the mast crane; This represents the control input vector of the mast crane.

[0033] As one or more implementation methods, the control objective of the mast crane in this embodiment mainly includes adjusting the boom pitch angle by designing a sliding mode controller that incorporates time delay estimation. To make it reach the desired target angle Simultaneously suppress the vibration of the hook and distributed load, and reduce the swing angle. Converging to an equilibrium state, i.e. ; It should be noted that the state variable is followed by This is expressed as a function of the state variable with respect to time; for ease of representation, most variables are omitted. .

[0034] By refining the constructed dynamic model of the mast crane, we can obtain...

[0035] in,

[0036] The constructed dynamic model of the mast crane system considering distributed loads can be transformed into: ; Considering that the system parameters are unknown, define parameters. As an unknown parameter That is, ; in, This represents the unknown dynamics of the system, namely: .

[0037] Define the positioning error of a mast crane ,Right now ; Obtain the non-singular fast terminal sliding surface ,Right now ; in, Indicates a positive control gain. A positive odd number that satisfies the condition. and .

[0038] For the obtained Differentiating by time, we get: ; Will Substitute , can be obtained ; Thus, the sliding mode controller is obtained. ; in, A positive control gain Represents standard symbolic functions. Indicates unknown dynamics of the system The estimation is specifically implemented through a time delay estimator, and the specific expression is: ; in, This represents a sufficiently small time delay, which can be set as the sampling period of the control system.

[0039] In the designed controller, the control gain needs to satisfy: ; in, express The upper boundary.

[0040] For delay estimator The estimation error is defined as .

[0041] The following lemma applies to this embodiment: Lemma 1: When the parameter The selection meets the conditions At that time, the estimation error of the time delay estimator There exists an upper bound, that is... .

[0042] This embodiment uses the Lyapunov method and Barbalat's lemma to analyze the stability of the proposed controller, and obtains the following theorem: Theorem 1: Using the designed controller, combined with the control gain condition, sliding mode variable... Can be done in a limited time It converges to 0, that is: ; Theorem 2: Sliding surface Can be done in a limited time After convergence to 0, the swing angle corresponding to the undriveable state It asymptotically converges to 0, that is: .

[0043] This embodiment uses a device installed on a mast crane system to measure the boom pitch angle. Hook swing angle and load swing angle Sensors, obtain online , and The real-time signal is obtained, and then the corresponding control signal is calculated in real time by the designed non-singular terminal sliding mode controller that combines time delay estimation. The control torque acting on the boom drive motor is obtained, which effectively suppresses the double-swing coupling vibration of the hook and the load, and achieves the stable positioning of the boom, thus achieving the predetermined control objective.

[0044] To verify the feasibility of the control method proposed in this embodiment, the physical parameters of the mast crane system are set as follows: ; In the simulation, the control parameters of the designed controller were selected as follows: .

[0045] The target position for boom pitch is set as follows: .

[0046] The simulation results in this embodiment are as follows: Figure 2 and Figure 3 As shown, based on Figure 2 Therefore, the control method proposed in this embodiment can quickly drive the boom pitch angle to the target position with almost no adjustment error; hook swing angle and load swing angle The maximum swing angle is small and can be quickly eliminated; therefore, the controller in this embodiment has a smooth and fast response curve with almost no overshoot, and the swing suppression effect of the suspension rope and load is obvious, resulting in good control performance.

[0047] based on Figure 3 Therefore, when the target position of changing the boom pitch angle is... The proposed control method still achieves stable load transport with almost no adjustment error, exhibits a fast and smooth control curve, and effectively suppresses the sway amplitude of the hoisting rope and load. This embodiment effectively solves the problem of parameter uncertainty in the system and suppresses vibration, ensuring the working efficiency and safety performance of the mast crane system. Finally, simulation results demonstrate that the proposed controller has good control performance.

[0048] This embodiment addresses the stability and vibration suppression control objectives of a mast crane considering distributed mass loads under conditions of model uncertainty and external disturbances. It employs a vibration suppression and positioning control method combining sliding mode control and time delay estimation. Specifically, a double-pendulum dynamic model considering distributed mass loads is established based on the Euler-Lagrange method. The dynamic characteristics of the double-pendulum dynamic model and the coupling relationships between various state variables are analyzed, and the model is then organized and reconstructed. By equivalently separating the uncertainties, time delay estimation is introduced to estimate the unknown dynamics online. A non-singular fast terminal sliding mode surface is designed to ensure that the state converges to the desired value within a finite time. The controller achieves stable control of the crane's amplitude angle while also suppressing the swaying of the hook and distributed load. Furthermore, the time delay estimation mechanism compensates for uncertain dynamics, thereby improving overall control performance.

[0049] Mast cranes, considering distributed mass loads, are typical underactuated mechanical systems with nonlinear and coupled characteristics, and have application value in fields such as large-structure hoisting, prefabricated building construction, and marine engineering. However, in actual engineering, due to the influence of external disturbances and changes in system parameters, traditional control methods are difficult to simultaneously achieve positioning and vibration suppression performance. Compared with existing technologies, the control method combining sliding mode control and time delay estimation introduced in this embodiment can compensate for system uncertainties to a certain extent, improve the disturbance rejection capability of mast cranes, and achieve positioning and vibration suppression while ensuring system stability, thus showing promising engineering application prospects.

[0050] Example 2 Embodiment 2 of the present invention introduces a control system for a mast crane oriented to distributed loads.

[0051] like Figure 4 The control system shown is for a mast crane with distributed loads, comprising: The acquisition module is configured to acquire the double-pendulum dynamics model of a mast crane for distributed loads; The analysis module is configured to analyze the coupling relationship between state variables in the double pendulum dynamics model and determine the control objective of the mast crane; The compensation module is configured to determine the lumped uncertainty of the mast crane based on the acquired double pendulum dynamics model and control objective; and to perform online estimation of the determined lumped uncertainty of the mast crane based on time delay estimation to obtain the time delay estimation compensation term. The calculation module is configured to perform non-singular terminal sliding mode control on the mast crane by combining the obtained time delay estimation compensation term to obtain the control torque of the mast crane boom drive motor; The control module is configured to perform closed-loop control of the mast crane based on the obtained control torque and the real-time attitude of the mast crane.

[0052] The detailed steps are the same as those of the control method for a mast crane oriented towards distributed loads provided in Example 1, and will not be repeated here.

[0053] Example 3 Embodiment 3 of the present invention provides a computer-readable storage medium.

[0054] A computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in the control method for a mast crane oriented towards distributed loads as described in Embodiment 1 of the present invention.

[0055] The detailed steps are the same as those of the control method for a mast crane oriented towards distributed loads provided in Example 1, and will not be repeated here.

[0056] Example 4 Embodiment 4 of the present invention provides an electronic device.

[0057] An electronic device includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps in the control method for a mast crane oriented to a distributed load as described in Embodiment 1 of the present invention.

[0058] The detailed steps are the same as those of the control method for a mast crane oriented towards distributed loads provided in Example 1, and will not be repeated here.

[0059] Example 5 Embodiment 5 of the present invention provides a computer program product.

[0060] A computer program product includes software code, wherein the program in the software code performs the steps of the control method for a mast crane oriented to a distributed load as described in Embodiment 1 of the present invention.

[0061] The detailed steps are the same as those of the control method for a mast crane oriented towards distributed loads provided in Example 1, and will not be repeated here.

[0062] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present invention can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0063] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0064] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0066] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0067] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0068] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A control method for a distributed load-oriented tower crane, characterized in that, include: Obtain the double pendulum dynamics model of a mast crane for distributed loads; Analyze the coupling relationship between state variables in the double pendulum dynamics model to determine the control objective of the mast crane; Based on the obtained double pendulum dynamics model and control objective, the lumped uncertainty term of the mast crane is determined; Based on the time delay estimation, the lumped uncertainty of the mast crane is estimated online to obtain the time delay estimation compensation term; By combining the obtained time delay estimation compensation term, non-singular terminal sliding mode control is performed on the mast crane to obtain the control torque of the mast crane boom drive motor; Based on the obtained control torque and the real-time attitude of the mast crane, closed-loop control of the mast crane is completed.

2. The control method for a mast crane oriented towards distributed loads as described in claim 1, characterized in that, The obtained double-pendulum dynamic model of the mast crane for distributed loads is as follows: ;in, This represents the state vector of the mast crane. , Indicates the boom pitch angle. Indicates the swing angle of the hook. Indicates the deflection angle of the distributed load; The inertia matrix representing the mast crane; The matrix representing the Coriolis force and centripetal force of a mast crane; The term representing the gravity of the mast crane; This indicates the damping term of the mast crane; This represents the control input vector of the mast crane.

3. The control method for a mast crane oriented towards distributed loads as described in claim 1, characterized in that, The obtained time delay estimate compensation term for ;in, This indicates the unknown dynamics of the mast crane. Indicates time, Indicates the delay time. This represents the estimated value of the uncertainty parameter.

4. The control method for a mast crane oriented towards distributed loads as described in claim 1, characterized in that, In the process of performing non-singular terminal sliding mode control on the mast crane by combining the obtained time delay estimation compensation term, a non-singular fast terminal sliding surface is adopted. ,Right now ;in, For the error of the mast crane, Indicates a positive control gain. A positive odd number that satisfies the condition. and .

5. The control method for a mast crane oriented towards distributed loads as described in claim 1, characterized in that, The real-time attitude of the mast crane includes at least the boom pitch angle, hook swing angle, and load swing angle of the mast crane.

6. The control method for a mast crane oriented towards distributed loads as described in claim 1, characterized in that, The control objectives of the mast crane include at least adjusting the pitch angle of the mast crane boom to a target angle by controlling the torque, and suppressing the swing of the hook and distributed load so that their swing angles converge to a balanced state.

7. A control system for a mast crane oriented towards distributed loads, characterized in that, include: The acquisition module is configured to acquire the double-pendulum dynamics model of a mast crane for distributed loads; The analysis module is configured to analyze the coupling relationship between state variables in the double pendulum dynamics model and determine the control objective of the mast crane; The compensation module is configured to determine the lumped uncertainty of the mast crane based on the acquired double pendulum dynamics model and control objective. Based on the time delay estimation, the lumped uncertainty of the mast crane is estimated online to obtain the time delay estimation compensation term; The calculation module is configured to perform non-singular terminal sliding mode control on the mast crane by combining the obtained time delay estimation compensation term to obtain the control torque of the mast crane boom drive motor; The control module is configured to perform closed-loop control of the mast crane based on the obtained control torque and the real-time attitude of the mast crane.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the steps of the control method for a mast crane oriented to a distributed load as described in any one of claims 1-6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the program, it implements the steps of the control method for a mast crane oriented to a distributed load as described in any one of claims 1-6.

10. A computer program product, comprising software code, characterized in that, The program in the software code performs the steps of the control method for a mast crane oriented towards distributed loads as described in any one of claims 1-6.

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