岸边集装箱起重机防摇及定位控制研究

Anti-sway and Positioning Control Study for Quayside Container Cranes

研究了岸边集装箱起重机的防摇及定位控制。在对系统进行无源性分析的基础上,构造了控制Lya- punov函数,得到系统镇定控制律。理论分析和数值仿真算例表明,该控制方法对于岸桥防摇和定位控制有着较快的收敛速度和较强的鲁棒性。

This paper studies the positioning and anti-sway control of an quayside containe.r cranes. Based on Passive methods, an control Lyapunov function is constructed and an stabilization control law is obtained. Theoretical analysis and numerical simulation shows the controller for the anti-sway control and positioning control has strong robustness.