ABSTRACT

Depending on their dynamic properties, cranes can be classified as gantry cranes and rotary cranes. In this paper, we will focus on the so called ‘knuckle boom’ cranes which are among the most common types of rotary cranes. A first result of this paper is to present a complete mathematical model for this kind of crane where it is possible to control the three rotations of the crane and the cable length. On the basis of this model, we propose a nonlinear control law based on energy considerations which is able to perform position control of the crane while damping the oscillations of the load. The corresponding stability and convergence analysis is carefully proved using the LaSalle's invariance principle. The effectiveness of the proposed control approach has been tested in simulation with realistic physical parameters and in the presence of model mismatch.

摘要

根据其动态特性，起重机可分为门式起重机和回转式起重机。在本文中，我们将重点介绍所谓的“折臂式”起重机，它们是最常见的回转起重机类型之一。本文的第一个结果是为这种起重机提供了一个完整的数学模型，可以控制起重机的三个旋转和电缆长度。在此模型的基础上，我们提出了一种基于能量考虑的非线性控制律，该控制律能够在阻尼负载振荡的同时对起重机进行位置控制。使用LaSalle 不变性原理仔细证明了相应的稳定性和收敛性分析. 所提出的控制方法的有效性已经在具有真实物理参数的仿真和模型不匹配的情况下进行了测试。