Title:
STABILITY CONTROL METHOD AND SYSTEM FOR OFFSHORE CRANE HAVING DOUBLE-PENDULUM CHARACTERISTICS
Document Type and Number:
WIPO Patent Application WO/2021/114783
Kind Code:
A1
Abstract:
A stability control method and system for an offshore crane having double-pendulum characteristics, comprising: creating a dynamic model of a double-pendulum offshore crane; introducing state variables of the elevation angle of the boom, the length of the rope from the center of gravity of the hook to the boom tip, the swing angle of the hook, and the swing angle of a hanging object to convert the dynamic model into a new dynamic model; defining the mechanical energy of the double-pendulum offshore crane, and obtaining, according to a derivative of the mechanical energy and the new dynamic model, a nonlinear controller with control signals bounded; and implementing stability control of an offshore crane having double-pendulum characteristics by the controller. In the method and system, disturbances caused by roll motion and heave motion of a ship body and the saturation of an actuator are taken into full consideration, a nonlinear controller with control signals bounded is designed, and the controller still has strong robustness when facing a non-zero initial swing angle, an external disturbance, sea wind interference, and a complicated ship motion.
Inventors:
LI ZHI (CN)
MA XIN (CN)
LI YIBIN (CN)
SONG RUI (CN)
RONG XUEWEN (CN)
MA XIN (CN)
LI YIBIN (CN)
SONG RUI (CN)
RONG XUEWEN (CN)
Application Number:
PCT/CN2020/114875
Publication Date:
June 17, 2021
Filing Date:
September 11, 2020
Export Citation:
Assignee:
UNIV SHANDONG (CN)
International Classes:
B66C13/06; B66C13/08; B66C13/18; G05B13/04
Domestic Patent References:
| WO2010109075A1 | 2010-09-30 |
Foreign References:
| CN110937510A | 2020-03-31 | |||
| CN108439209A | 2018-08-24 | |||
| CN108545610A | 2018-09-18 | |||
| CN109132860A | 2019-01-04 | |||
| CN107678277A | 2018-02-09 |
Attorney, Agent or Firm:
JINAN SHENGDA INTELLECTUAL PROPERTY AGENCY CO.,LTD. (CN)
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