Modeling and anti-sway control of ship-mounted crane

被引:4
|
作者
Li, Xiangguo [1 ]
Mei, Zhiqian [1 ]
Zhu, Denglin [1 ]
Xie, Baochun [1 ]
机构
[1] Hohai Univ, Coll Mech & Elect Engn, 200 Jinling North Rd, Changzhou 213022, Jiangsu, Peoples R China
基金
中国国家自然科学基金;
关键词
Ship-mounted crane; anti-sway; time-delayed feedback; stability; MATLAB-Adams; DYNAMICS;
D O I
10.1177/1687814017727252
中图分类号
O414.1 [热力学];
学科分类号
摘要
This article analyzes the dynamics of a ship-mounted crane and establishes the mathematical model of the load. Based on the mathematical model, the time-delayed feedback control algorithm is proposed to anti-load sway. The Lambert W function and Newton-Raphson method are used to prove the stability of control system. The contour plot of the system damping is obtained; by selecting appropriate time delay and system gain, the system damping increases and load sway rapidly decays, thereby the system is stable. The co-simulation and experimental results show that the delayed feedback controller has better performance in anti-sway and robustness.
引用
收藏
页数:9
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