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绳长时变情况下轮胎式集装箱起重机非线性防摆控制算法

曹海昕 郝运嵩 林静正 卢彪 方勇纯

曹海昕,  郝运嵩,  林静正,  卢彪,  方勇纯.  绳长时变情况下轮胎式集装箱起重机非线性防摆控制算法.  自动化学报,  2021,  47(8): 1876−1884 doi: 10.16383/j.aas.c200859
引用本文: 曹海昕,  郝运嵩,  林静正,  卢彪,  方勇纯.  绳长时变情况下轮胎式集装箱起重机非线性防摆控制算法.  自动化学报,  2021,  47(8): 1876−1884 doi: 10.16383/j.aas.c200859
Cao Hai-Xin,  Hao Yun-Song,  Lin Jing-Zheng,  Lu Biao,  Fang Yong-Chun.  Nonlinear anti-swing control for rubber tyre container gantry crane with rope length variation.  Acta Automatica Sinica,  2021,  47(8): 1876−1884 doi: 10.16383/j.aas.c200859
Citation: Cao Hai-Xin,  Hao Yun-Song,  Lin Jing-Zheng,  Lu Biao,  Fang Yong-Chun.  Nonlinear anti-swing control for rubber tyre container gantry crane with rope length variation.  Acta Automatica Sinica,  2021,  47(8): 1876−1884 doi: 10.16383/j.aas.c200859

绳长时变情况下轮胎式集装箱起重机非线性防摆控制算法

doi: 10.16383/j.aas.c200859
基金项目: 国家重点研发计划 (2018YFB1309000), 国家自然科学基金面上项目 (61873132), 广东省机器人与智能系统重点实验室开放基金资助
详细信息
    作者简介:

    曹海昕:南开大学人工智能学院机器人与信息自动化研究所硕士研究生. 主要研究方向为欠驱动系统控制. E-mail: c_haixin@mail.nankai.edu.cn

    郝运嵩:南开大学人工智能学院机器人与信息自动化研究所硕士研究生. 主要研究方向为欠驱动系统的非线性控制. E-mail: haoysnk@hotmail.com

    林静正:南开大学人工智能学院机器人与信息自动化研究所博士研究生. 主要研究方向为欠驱动系统控制. E-mail: ljz970129@ mail.nankai.edu.cn

    卢彪:南开大学人工智能学院机器人与信息自动化研究所讲师. 主要研究方向为欠驱动系统非线性控制. E-mail: lubiao@mail.nankai.edu.cn

    方勇纯:南开大学人工智能学院机器人与信息自动化研究所教授. 主要研究方向为非线性控制, 机器人视觉伺服控制, 欠驱动系统控制和基于原子力显微镜的纳米系统. 本文通信作者. E-mail: fangyc@nankai.edu.cn

Nonlinear Anti-swing Control for Rubber Tyre Container Gantry Crane With Rope Length Variation

Funds: Supported by National Key R&D Program of China (2018YFB1309000), National Nature Science Foundation of China (61873132), the Opening Project of Guangdong Provincial Key Lab of Robotics and Intelligent System
More Information
    Author Bio:

    CAO Hai-Xin Master student at the Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University. His main research interest is control of underactuated systems

    HAO Yun-Song Master student at the Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University. His main research interest is nonlinear control of underactuated systems

    LIN Jing-Zheng Ph. D. candidate at the Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University. His main research interest is nonlinear control of underactuated systems

    LU Biao Lecturer at the Institute of Robotics and Automatic Information System, College of Artificial Intelligence, Nankai University. His main research interest is nonlinear control of underactuated systems

    FANG Yong-Chun Professor at the Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University. His research interest covers nonlinear control, robot visual servoing control, control of underactuated systems and AFM-based nano-systems. Corresponding author of this paper

  • 摘要:

    四绳轮胎式集装箱起重机由于自身的动力学特性较为复杂, 目前仍缺乏稳定高效的控制手段. 为解决港口起重机作业过程中台车定位精准度低、负载易受干扰摆幅大的问题, 文章设计了一种面向工业场景的非线性反馈控制器. 首先在未进行近似处理的前提下对起重机吊具摆动情况进行了建模分析. 在此基础上, 通过在控制器中引入摆幅反馈信息, 实现了绳长时变情况下台车的精确定位与负载摆幅的有效抑制, 为集装箱的运送路径增加了更多选择. 随后基于Lyapunov方法对控制器进行了稳定性分析. 所设计的控制方案在港口实际设备上进行了验证, 在定位精度与消摆性能上相较于人工操作取得了很大提升.

  • 图  1  四绳起重机吊具摆动模型

    Fig.  1  Swing model of four-rope crane spreader

    图  2  四绳轮胎式集装箱起重机

    Fig.  2  Four-rope rubber-tyre container crane

    图  3  控制架构

    Fig.  3  Control architecture

    图  4  长距离无箱运送实验结果

    Fig.  4  Results of long-distance transportation without container

    图  5  长距离带箱运送实验结果

    Fig.  5  Results of long-distance transportation with container

    图  6  短距离带箱运送实验结果

    Fig.  6  Results of short-distance transportation with container

    表  1  不同作业模式下数据对比

    Table  1  Data comparison of different operation modes

    作业模式台车位置
    误差 (cm)
    起升高度
    误差 (cm)
    最大摆
    角 (°)
    作业用
    时 (s)
    长距离无箱运送人工控制24232.631.8
    算法控制411.123.9
    长距离带箱运送人工控制43733.132.7
    算法控制401.424.6
    短距离带箱运送人工控制15672.523.8
    算法控制221.217.3
    下载: 导出CSV
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出版历程
  • 收稿日期:  2020-10-14
  • 录用日期:  2020-12-28
  • 网络出版日期:  2021-02-01
  • 刊出日期:  2021-08-20

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