Nonlinear feedback control of container crane mounted on elastic foundation with the flexibility of suspended cable
Nonlinear feedback control of container crane mounted on elastic foundation with the flexibility of suspended cable
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DOI：
10.1177/1077546314558499
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发表时间：
2016-07
影响因子：
2.8
通讯作者：
L. Tuan;Hoang Manh Cuong;Soon‐Geul Lee;L. Nho;Kee Moon
中科院分区：
文献类型：
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作者：
L. Tuan;Hoang Manh Cuong;Soon‐Geul Lee;L. Nho;Kee Moon
建立了某船用集装箱起重机的原始数学模型，提出了一种考虑海水粘弹性和操纵缆索灵活性的复杂作业任务的非线性控制器。该控制器利用小车的拉力和吊车的扭矩两个输入，同时驱动小车运动、钢丝绳长度、集装箱摆动、集装箱轴向振动、船舶横摇和船舶升沉等六个输出。研究了弹性系数和波浪激励对系统性能的影响。仿真和实验结果表明，尽管存在扰动，受控系统的响应仍保持稳定和一致。
This study constructs an original mathematical model of a shipboard container crane and proposes a nonlinear controller for the complicated operation duties in which the viscoelasticity of seawater and the flexibility of handling cable are taken into account. By using two inputs, namely, the pulling force of the trolley and the torque of the hoist, the controller simultaneously drives six outputs, including trolley motion, cable length, container swing, axial container oscillation, ship roll, and ship heave. The effects of elasticity factors and wave excitations on system performance are also investigated. The simulation and experiment results reveal that the controlled system responses remain stable and consistent despite disturbances.