ABSTRACT

In this paper, the global sliding mode control technique is designed for anti-sway control of offshore crane mounted on surface vessel. The offshore cranes are responsible for moving containers from mega container ships to a smaller vessel. In this regard, after introducing the dynamics of the crane mounted on the surface vessel, the sliding surfaces and control laws are designed to maintain the stability of the system against external disturbances such as sea waves and wind induced movements. Furthermore, using the Lyapunov’s stability analysis, it is proven that the position/ velocity errors are converged to the origin. Finally, to determine the effectiveness of the proposed method, the simulation results of the global sliding mode control technique are compared to those of the continuous integral sliding mode control and proportional–integral–derivative approaches. The development of this procedure due to its high productivity and economic feasibility can be used as a new tool in the modern maritime industry.

摘要

本文设计了全局滑模控制技术，用于水面船舶海上起重机的防摇控制。海上起重机负责将集装箱从大型集装箱船转移到较小的船上。在这方面，在介绍了安装在水面舰艇上的起重机的动力学之后，设计了滑动面和控制律，以保持系统的稳定性，以抵抗海浪和风引起的运动等外部干扰。此外，使用 Lyapunov 的稳定性分析，证明位置/速度误差收敛到原点。最后，为了确定所提出方法的有效性，将全局滑模控制技术的仿真结果与连续积分滑模控制和比例-积分-微分方法的仿真结果进行了比较。由于其高生产率和经济可行性，该程序的开发可用作现代海运业的新工具。