海上浮式集装箱起重机的小车位置跟踪和吊重消摆控制研究

Crab position tracking and lifting weight anti-sway control for an off-shore container crane on sea

浮式集装箱起重机(OCC)是新型的海上吊运系统,能够对锚泊在深海的大型集装箱运输船进行装卸作业,来解决港口拥堵和大型船舶因港口水浅无法靠岸过驳等问题;但是由于受海上风浪干扰影响,所吊运的载荷会产生复杂的非线性动力学响应,严重影响作业效率,甚至引发安全事故。针对此问题,推导船体横摇和升沉运动下OCC系统负载吊运过程的摆振动力学模型,并设计吊运轨迹跟踪的非线性控制器,同时实现海浪干扰和起重小车运动耦合下OCC系统的位置跟踪和负载的消摆控制;采用Lyapunov方法严格证明了控制器的稳定性;最后,比较仿真和实验结果验证所提方法的有效性。通过此方法能抑制海浪激励对集装箱吊运轨迹的影响,确保OCC系统安全高效运行。

An offshore container crane（ OCC） can perform loading and unloading containers for a large containership anchored in deep sea to solve problems of port congestion and large ships being unable to dock due to smaller waterdepth of port. However,due to wave-induced movements of a ship,the crane’s control system needs to be redesigned to ensure the load transfer on sea. Here,the nonlinear dynamic equations of an OCC system subjected to ship motions were derived. Then a novel nonlinear controller was deigned to realize the crab position tracking and lifting weight anti-sway control simultaneously irrespective of ship motions and parameters perturbation. Lyapunov method was utilized to prove the stability of the proposed control law. Finally,comparing the simulation results and those of tests demonstrated the effectiveness of the proposed method. It was shown that the effects of sea wave excitation on the hoisting and swinging trajectory of containers can be suppressed with the proposed method to ensure the OCC system operation’s efficiency and safety.