Abstract For practical underactuated tower cranes, vertical payload motion is always involved to increase the working efficiency, making the control problem more complex. Most existing control methods are designed based on linearized crane dynamics and require exact plant parameters. To solve these problems, the dynamic model of tower cranes with varying cable lengths is established firstly, on whose basis, an adaptive sway reduction control method is proposed. To our knowledge, the designed control method yields the first closed-loop control solution, with guaranteed theoretical analysis, to successfully address the tower crane anti-swing and positioning problem in the presence of varying cable lengths. The model and control method are simulated by MATLAB/Simulink, and the simulation results show that the anti-swing performance is significantly enhanced by more than 63.22%, compared with PD method. Considering there are several control gains in the designed law, optimization of control gains based on optimization methods will be conducted.

中文翻译：

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具有不同电缆长度的塔式起重机系统的自适应摇摆减少

摘要 对于实际的欠驱动塔式起重机，为了提高工作效率，总是涉及垂直载荷运动，使得控制问题更加复杂。大多数现有的控制方法都是基于线性化起重机动力学设计的，需要精确的工厂参数。针对这些问题，首先建立了变索长度塔式起重机的动力学模型，在此基础上提出了一种自适应减摇控制方法。据我们所知，所设计的控制方法产生了第一个闭环控制解决方案，在保证理论分析的情况下，成功解决了在存在不同电缆长度的情况下塔式起重机的防摆动和定位问题。模型和控制方法通过MATLAB/Simulink进行仿真，仿真结果表明，与PD方法相比，抗摆动性能显着提高了63.22%以上。考虑到设计律中有多个控制增益，将根据优化方法对控制增益进行优化。