Nonlinear Stabilizing Control for Ship-Mounted Cranes With Ship Roll and Heave Movements: Design, Analysis, and Experiments
Nonlinear Stabilizing Control for Ship-Mounted Cranes With Ship Roll and Heave Movements: Design, Analysis, and Experiments
复制标题
具有船舶横摇和升沉运动的船用起重机的非线性稳定控制：设计、分析和实验
DOI：
10.1109/tsmc.2017.2700393
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发表时间：
2018-10-01
影响因子：
8.7
通讯作者：
Lu, Biao
中科院分区：
文献类型：
--
作者：
Sun, Ning;Fang, Yongchun;Lu, Biao
目前，船载起重机在现代海洋运输和物流中发挥着越来越重要的作用。与传统的陆地固定式起重机系统不同，船载起重机系统具有更为复杂的非线性动力学特性，并且由于恶劣的海洋环境，海浪、海流、海风等不利因素给有效控制方案的开发带来了诸多挑战。针对欠驱动船用起重机系统，提出了一种新的非线性镇定控制策略。具体而言，一些新的坐标变换程序，首先引入到处理的干扰项，通过将原来的动态转换成一种新的形式，这有利于控制器的设计和稳定性分析。在此基础上，构造了一个非线性控制律，在船舶横摇和垂荡运动存在的情况下，将货物位置渐近地调节到期望位置。闭环信号的有界性和收敛性证明了基于李雅普诺夫分析。据我们所知，这是第一个闭环方案，可以实现渐近控制的结果，没有线性化/近似的原始非线性动态时，进行控制器设计和稳定性分析，欠驱动船载起重机与船舶滚动和起伏运动。硬件实验结果表明，所提出的控制方法可以达到令人满意的控制性能，它承认对外部扰动具有较强的鲁棒性。
Presently, ship-mounted cranes are playing more and more important roles in modern ocean transportation and logistics. Different from traditional land-fixed crane systems, ship-mounted cranes present much more complicated nonlinear dynamical characteristics and they are persistently influenced by different mismatched disturbances due to harsh sea environments, e.g., sea waves, ocean currents, sea winds, and so forth; these unfavorable factors bring about many challenges for the development of effective control schemes. This paper presents a novel nonlinear stabilizing control strategy for underactuated ship-mounted crane systems. Specifically, some novel coordinate change procedures are first introduced to tackle the disturbing terms by transforming the original dynamics into a new form, which facilitates both controller design and stability analysis. After that, a nonlinear control law is constructed to regulate the cargo position to the desired location asymptotically, in the presence of ship roll and heave movements. The boundedness and convergence of the closed-loop signals are proven with Lyapunov-based analysis. To the best of our knowledge, this is the first closed-loop scheme that can achieve asymptotic control results, without linearizing/approximating the original nonlinear dynamics when performing controller design and stability analysis, for underactuated ship-mounted cranes with ship roll and heave movements. Hardware experimental results are included to show that the proposed control method can achieve satisfactory control performance and it admits strong robustness against external perturbations.