欠驱动岸边集装箱起重机防摆控制方法研究综述

Review of UNDERACTUATED container crane anti-sway control method

针对控制领域的研究热点之一非线性、欠驱动岸边集装箱起重机防摆控制问题,从欠驱动系统的概念和岸边集装箱起重机动力学模型出发,详细分析研究的必要性、国内外研究现状和难点。最后,分析现有控制方法存在的主要问题,并对岸边集装箱起重机防摆控制方法进一步的发展方向进行了展望。

Aiming at one of the hot topics that anti sway control for nonlinear underactuated quayside container cranes in the field of automatic control, from the concept of underactuated system and kinetic model of quay crane, it is detailed to introduce the necessity and situation at home and abroad, as well difficulties of research. Finally, the major problems of the existing methods are focused on, and corresponding prospects are proposed for the future work in anti swav.