As an indispensable transportation tool, tower cranes are widely used in construction sites. However, since the mass and volume of the transported goods become larger, most of the traditional control algorithms designed for Concentrated Payload Mass (CPM) are not sufficient for Distributed Payload Mass (DPM). One of the main differences between DPM and CPM is that the payload swing caused by the moment of inertia of DPM cannot be effectively suppressed, resulting in residual payload swing. Furthermore, due to different working environments, accurate system parameters are difficult to obtain, leading to errors in their positioning. Hence, an adaptive fuzzy control method is proposed, which has good control performance in the presence of external disturbances and parameter uncertainties. The effectiveness of the proposed method was verified through experiments. This improves the efficiency of transportation and is of more practical significance for automation construction. In future research, fault diagnosis and active fault-tolerant control will be considered as the following research directions, taking into account the problem of actuator/sensor failures due to prolonged system operation.

塔式起重机作为不可缺少的运输工具，广泛应用于建筑工地。然而，由于运输货物的质量和体积越来越大，大多数为集中有效载荷质量（CPM）设计的传统控制算法对于分布式有效载荷质量（DPM）是不够的。DPM 和 CPM 的主要区别之一是 DPM 的转动惯量引起的有效载荷摆动不能得到有效抑制，导致残余有效载荷摆动。此外，由于工作环境不同，难以获得准确的系统参数，导致定位错误。因此，提出了一种自适应模糊控制方法，该方法在存在外部干扰和参数不确定性的情况下具有良好的控制性能。通过实验验证了所提方法的有效性。这提高了运输效率，对自动化建设具有更现实的意义。在未来的研究中，故障诊断和主动容错控制将被视为以下研究方向，同时考虑到由于系统长时间运行而导致执行器/传感器故障的问题。