The application discloses an offshore crane anti-swing predictive control method, and belongs to the technical field of offshore
engineering equipment control. The method aims to solve the problem of poor load swing suppression effect of the offshore crane caused by control
lag and inaccurate model in the prior art. The scheme points are as follows: a state sensor group and a multi-source environment
perception system are used to acquire the crane state and the predicted information of future
waves in real time; a
hybrid prediction model is used to predict the crane
system state sequence under different control instructions in the future
time domain through rolling prediction; based on the predicted sequence, a reference control trajectory is solved in the upper optimization, the reference control trajectory aims to suppress swing and reduce
structural fatigue, an instant control instruction is solved in the lower
fast optimization, and the instant control instruction meets the
actuator constraint and is output; meanwhile, the
system health management is independently executed, and the
control mode is dynamically adjusted according to the evaluation. The method is mainly used for precise anti-swing control of the offshore crane under complex sea conditions, can effectively suppress the load swing in advance, and improves the operation accuracy and
equipment safety.