船上回转式吊车的防摆控制研究-电气工程专业论文.docx

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - PAGE IV - - - PAGE III - Abstract The ocean has become the focus of energy strategy along with the increasingly expanded energy demand in the 21st century, and the ship-mounted cranes get rapid development during the blossom of ocean construction projects in that all the worldwide countries reinforce their exploitation of ocean resource. At the same time, the ship-mounted cranes play an important role in both the offshore goods distribution of large-scale container ships and the martial material replenishment, whereas the load swaying acts as the bottle-neck of safe and efficient system operation. Considering that the anti-swaying control of ship-mounted crane is desired to not only advance the productivity and obtain the direct economy benefit, but also seize the military predominance. Based on the above background, the anti-swaying control of ship-mounted crane is studied in this dissertation. Based on the motion characteristic of jib-type rotary ship-mounted cranes, its simplified physical model is studieded firstly. By applying the Lagrange equation for mechanical system the mathematic modeling of ship-mounted crane is achieved, and the model’s correctness is validated. Considering the load swaying excitated by the orientation motion of system, the theory of input shaping technology combined with the arithmetic of optimal control is adopted to design the optimal input shaper which can only effectively deals with the fixed pendulum-length operation. Consequently a 3 humps high robustness input shaper is developed for the variable pendulum length case by vector diagram calculation. The simulation results illustrate the feasibility of the input shaping used for anti-swaying control of ship-mounted cranes. In order to restrain load swaying influenced indirectly by the ocean wave, an original active hook is designed by consultation of AMD system used in the field of civil engineering, and its H∞