船用起重机机械的减摇控制方法

Anti-rolling control method of marine crane machinery

为了降低船用起重机的摇晃度,进行减摇控制,提出基于稳态反馈补偿调节的船用起重机机械的减摇控制方法,构建船用起重机机械的减摇控制约束参量模型,以摇摆幅值、转动力矩、惯性力矩等为反馈调节参数,进行起重机机械的减摇稳态误差补偿控制,结合Lyapunov稳定性原理,引入后置积分项进行减摇控制器末端位姿修正,较低摇摆幅度,实现摇摆的实时误差补偿。仿真结果表明,采用该方法进行船用起重机机械的减摇控制,摇摆幅值得到有效控制,姿态稳定性较好。

In order to reduce the rocking degree of marine crane, the anti-rolling control method based on steady-state feedback compensation regulation is put forward. The anti-rolling control constraint parameter model of marine crane machinery is constructed. The rolling amplitude, rotational moment and inertia moment are used as feedback adjusting parameters to compensate the steady-state error of anti-rolling of crane machinery. Combined with the principle of Lyapunov stability, the post integral term is introduced to modify the terminal position and pose of the anti-rolling controller, so that the rocking amplitude is lower, and the real-time error compensation of rocking is realized. The simulation results show that.This method is applied to the anti-rolling control of marine crane machinery, the swing amplitude is effectively controlled,and the attitude stability is good.