CN110980536A - Anti-splashing control method for high-temperature molten metal transfer crane - Google Patents

Anti-splashing control method for high-temperature molten metal transfer crane Download PDF

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Publication number
CN110980536A
CN110980536A CN202010053525.7A CN202010053525A CN110980536A CN 110980536 A CN110980536 A CN 110980536A CN 202010053525 A CN202010053525 A CN 202010053525A CN 110980536 A CN110980536 A CN 110980536A
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trolley
crane
molten metal
load
temperature molten
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CN110980536B (en
Inventor
刘惠康
鄢梦伟
柴琳
孙博文
曹宇轩
皮瑶
李倩
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Wuhan University of Science and Engineering WUSE
Wuhan University of Science and Technology WHUST
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • B66C17/10—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes for transporting ladles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention provides an anti-splashing control method for a high-temperature molten metal transfer crane, and belongs to the technical field of molten metal transfer cranes. The anti-splashing control method of the high-temperature molten metal transfer crane comprises the following steps: s1: establishing a dynamic model based on a bridge crane system; s2: and establishing a dynamic model based on the bridge crane system. The energy controller of the invention realizes the rapid and accurate positioning of the load of the bridge crane system and effectively inhibits the swinging of the load; meanwhile, the influence of the gravity center of the liquid on the system under the condition that the load is in a high-temperature liquid state is considered, the smooth shaper is used for preprocessing the operation command, the load hanging oscillation induced by the liquid shaking is fundamentally eliminated, and the robustness is high. The transient control performance of the system is effectively improved while the swing eliminating positioning of the trolley is well realized.

Description

Anti-splashing control method for high-temperature molten metal transfer crane
Technical Field
The invention belongs to the technical field of molten metal transfer cranes, and relates to an anti-splashing control method for a high-temperature molten metal transfer crane.
Background
The bridge crane is used as an under-actuated system, and has the advantages of simple algorithm design, fewer controllers and lower cost. However, the crane may have an unstable problem due to a swing phenomenon of the load along with the movement of the trolley. The relationship between the trolley and the load swing is non-linear and highly coupled. In addition, the load swing caused by external interference (such as wind power and the like) not only reduces the overall efficiency and affects the accurate placement operation of the load in the falling and hanging process, but also can cause collision to cause safety accidents. In special cases, such as ladle handling, it is even desirable to enable "pendulum free" delivery (funding the national significant development program herein, i.e. starting the research in this regard) to prevent high temperature molten steel slopping. Therefore, the swing prevention is an important index for evaluating the control performance of the crane, but due to the underactuated characteristic of the crane system itself, people can only control the horizontal movement of the trolley and the lifting/lowering movement of the load, and cannot directly control the spatial swing of the load. For this reason, to accomplish the control task, it is necessary to suppress and eliminate the load swing without affecting its own positioning by reasonably controlling the movement of the dolly.
The high-temperature molten metal transfer bridge crane is an important carrying tool widely used by metallurgical enterprises, and can cause the problems of inaccurate trolley positioning, large load swinging amplitude and the like due to the influence of external resistance and the familiarity of crane operators in the transportation process. If the running time of the crane is increased due to the swinging during walking, the molten metal can be cooled too early, even the product quality and the production efficiency are reduced, or the molten metal is splashed out of a pouring gate, so that safety accidents are caused. The high temperature molten metal transfer crane is one kind of bridge crane, and has the common features and control difficulties of common cranes, such as nonlinearity, uncertainty, strong external interference, etc. and because the load part is high temperature liquid molten metal, the liquid center will be in fluctuation state due to the change of position during operation, so there is complex changing force generated by the change of liquid gravity center in the ladle, the force is transmitted from the ladle to the crane through the inner wall of the ladle and then transmitted to the crane, because the density of molten steel is large, the impact force generated by the change of gravity center will have great influence on the control of the whole system. At present, scholars at home and abroad rarely consider the situation that the load is liquid in the anti-swing control research of the crane, when the anti-swing control is carried out, because the designed controller enables the crane to realize quick and accurate positioning, the load end of the molten metal shakes more violently, a strong interference is generated to the system, and when the shaking frequency of the molten metal reaches or even exceeds the inherent frequency of the crane system in serious conditions, the system can generate resonance, so that the anti-swing failure of the crane even causes the crane to overturn, and safety accidents are caused.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an anti-splashing control method for a high-temperature molten metal transfer crane, which aims to solve the technical problems that: how to provide a method for controlling the splashing prevention of a high-temperature molten metal transfer crane.
The purpose of the invention can be realized by the following technical scheme:
an anti-splashing control method for a high-temperature molten metal transfer crane comprises the following steps:
s1: establishing a dynamic model based on a bridge crane system;
s2: an energy controller for positioning a bridge crane system load is established based on a dynamic model.
Preferably, step S1 specifically includes:
s11: establishing a two-dimensional bridge crane dynamics model according to Lagrange's equation
Figure DEST_PATH_IMAGE001
；
S12: transforming a two-dimensional bridge crane dynamics model into
Figure 100002_DEST_PATH_IMAGE002
；
Wherein
Figure DEST_PATH_IMAGE003
The quality of the trolley is the quality of the trolley,
Figure 100002_DEST_PATH_IMAGE004
in order to load the mass,
Figure DEST_PATH_IMAGE005
in order to move the trolley, the trolley is moved,
Figure 100002_DEST_PATH_IMAGE006
the length of the rope between the trolley and the load,
Figure DEST_PATH_IMAGE007
is the driving force received by the trolley,
Figure 100002_DEST_PATH_IMAGE008
is the friction force that the trolley is subjected to,
Figure DEST_PATH_IMAGE009
in order to be the swinging angle of the load,
Figure 100002_DEST_PATH_IMAGE010
is the acceleration of gravity.
Preferably, step S2 specifically includes:
s21: establishing a system energy storage function, wherein the energy storage function is
Figure DEST_PATH_IMAGE011
Wherein
Figure 100002_DEST_PATH_IMAGE012
In order to determine the positioning error of the trolley,
Figure DEST_PATH_IMAGE013
，
Figure 100002_DEST_PATH_IMAGE014
is the target position of the trolley,
Figure DEST_PATH_IMAGE015
to be at a preset time
Figure 100002_DEST_PATH_IMAGE016
When the trolley is in the preset position,
Figure DEST_PATH_IMAGE017
，
Figure 100002_DEST_PATH_IMAGE018
，
Figure DEST_PATH_IMAGE019
、
Figure 100002_DEST_PATH_IMAGE020
are all control gains;
s22: to pair
Figure DEST_PATH_IMAGE011A
Is subjected to derivation to obtain
Figure DEST_PATH_IMAGE021
Setting the acceleration of the trolley to
Figure 100002_DEST_PATH_IMAGE022
To guarantee energy storage function
Figure DEST_PATH_IMAGE023
The energy decays monotonically to 0;
s23: the feedback controller is designed as
Figure DEST_PATH_IMAGE025
。
Preferably, the steps S1 and S2 further include: a smooth shaper is established based on the kinetic model to suppress oscillations of the system by smooth shaping.
Preferably, the second order oscillation response of the smooth shaper is
Figure 100002_DEST_PATH_IMAGE026
Wherein
Figure DEST_PATH_IMAGE027
For a damping ratio, the amplitude of the system response is
Figure 100002_DEST_PATH_IMAGE028
Wherein
Figure DEST_PATH_IMAGE029
，
Figure 100002_DEST_PATH_IMAGE030
。
Preferably, zero oscillation is achieved by constraining the oscillation response and amplitude of the smooth shaper to zero.
Preferably, by
Figure DEST_PATH_IMAGE022A
And
Figure DEST_PATH_IMAGE025A
respectively to natural frequency
Figure DEST_PATH_IMAGE031
Damping ratio of
Figure 100002_DEST_PATH_IMAGE032
Make derivative constraint to zero, then
Figure DEST_PATH_IMAGE033
，
Figure 100002_DEST_PATH_IMAGE034
。
Preferably, by smoothingThe integral constraint of the shaper is equal to 1 to ensure that the smoothed command does not affect the subsequent system anti-swing output, then
Figure DEST_PATH_IMAGE035
。
Preferably, the smooth shaper is
Figure 100002_DEST_PATH_IMAGE036
Wherein
Figure DEST_PATH_IMAGE037
In order to be a model of the natural frequency,
Figure 100002_DEST_PATH_IMAGE038
in order to model the damping ratio,
Figure DEST_PATH_IMAGE039
in order to damp the periodic model of the oscillation,
Figure 100002_DEST_PATH_IMAGE040
is a constant.
Preferably, the first and second liquid crystal materials are,
Figure DEST_PATH_IMAGE041
。
the energy controller of the invention realizes the rapid and accurate positioning of the load of the bridge crane system and effectively inhibits the swinging of the load; meanwhile, the influence of the gravity center of the liquid on the system under the condition that the load is in a high-temperature liquid state is considered, the smooth shaper is used for preprocessing the operation command, the load hanging oscillation induced by the liquid shaking is fundamentally eliminated, and the robustness is high. The transient control performance of the system is effectively improved while the swing eliminating positioning of the trolley is well realized.
Drawings
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a schematic flow diagram of the present invention;
fig. 3 is a schematic view of the construction of the hoist system of the present invention.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Referring to fig. 1, 2 and 3, the method for controlling the high temperature molten metal transferring crane to prevent the high temperature molten metal from splashing includes the following steps:
s1: establishing a dynamic model based on a bridge crane system;
s2: an energy controller for positioning a bridge crane system load is established based on a dynamic model.
The energy controller realizes the quick and accurate positioning of the load of the bridge crane system, effectively inhibits the swinging of the load, and can better realize the swing-eliminating positioning of the trolley.
Step S1 specifically includes:
s11: establishing a two-dimensional bridge crane dynamics model according to Lagrange's equation
Figure DEST_PATH_IMAGE001A
；
S12: transforming a two-dimensional bridge crane dynamics model into
Figure DEST_PATH_IMAGE002A
；
Wherein
Figure DEST_PATH_IMAGE003A
The quality of the trolley is the quality of the trolley,
Figure DEST_PATH_IMAGE004A
in order to load the mass,
Figure DEST_PATH_IMAGE005A
in order to move the trolley, the trolley is moved,
Figure DEST_PATH_IMAGE006A
the length of the rope between the trolley and the load,
Figure DEST_PATH_IMAGE007A
is the driving force received by the trolley,
Figure DEST_PATH_IMAGE008A
is the friction force that the trolley is subjected to,
Figure DEST_PATH_IMAGE009A
in order to be the swinging angle of the load,
Figure DEST_PATH_IMAGE010A
is the acceleration of gravity.
The control objective requires, on the one hand, that the trolley reach above the target position as quickly as possible and, on the other hand, that the load swing angle converge rapidly to zero, i.e. at a preset time, by controlling the movement of the trolley
Figure DEST_PATH_IMAGE016A
Time of flight
Figure DEST_PATH_IMAGE043
、
Figure DEST_PATH_IMAGE045
. Firstly, the objective of stabilizing control of the crane system is given, and then a new energy storage function is constructed for the system through subsection analysis. Specifically, the movement of the load relative to the trolley is considered firstly, then the movement of the load and the trolley together is analyzed, and finally the accurate positioning condition of the load is analyzed, so that the final system energy storage function is obtained.
Step S2 specifically includes:
s21: establishing a system energy storage function of
Figure DEST_PATH_IMAGE011AA
Wherein
Figure DEST_PATH_IMAGE012A
In order to determine the positioning error of the trolley,
Figure DEST_PATH_IMAGE013A
，
Figure DEST_PATH_IMAGE014A
is the target position of the trolley,
Figure DEST_PATH_IMAGE015A
to be at a preset time
Figure DEST_PATH_IMAGE016AA
When the trolley is in the preset position,
Figure DEST_PATH_IMAGE017A
，
Figure DEST_PATH_IMAGE018A
，
Figure DEST_PATH_IMAGE019A
、
Figure DEST_PATH_IMAGE020A
all are control gains, it can be seen that the energy storage function is 0 if and only if the crane trolley speed, positioning error, load swing angle and angular velocity are all 0, so only the control rate needs to be designed so that the energy storage function is 0
Figure DEST_PATH_IMAGE023A
If 0, all system states can be stabilized to the target position;
s22: to pair
Figure DEST_PATH_IMAGE011AAA
Is subjected to derivation to obtain
Figure DEST_PATH_IMAGE021A
Setting the acceleration of the trolley to
Figure DEST_PATH_IMAGE022AA
To guarantee energy storage function
Figure DEST_PATH_IMAGE023AA
The energy decays monotonically to 0;
s23: the feedback controller is designed as
Figure DEST_PATH_IMAGE025AA
. When the load is not considered to be high-temperature liquid, the designed energy controller can realize the quick and accurate positioning of the crane, the load swing angle is not large, the stabilization time is shortened greatly, and good transient and steady-state performance is realized.
The steps between S1 and S2 further include: a smooth shaper is established based on the kinetic model to smooth shape by the original control commands to dampen oscillations of the system. In the transfer process of the molten metal transfer crane, the fluctuation interference of the liquid gravity center is considered, and the energy controller shortens the anti-swing process of a crane system, so that the fluctuation of the liquid gravity center is large, and even the resonance of the system can be caused. A fluctuation interference is adopted to simulate the disturbance of the change of the gravity center of the molten metal to the load swing angle, and the interference signal is considered to be weakened along with the reduction of the swing angle. After the interference signal is added, the energy controller is difficult to ensure that the load can still accurately and stably reach the target position, so that the anti-swing failure is caused. Thus, a smoothing shaping technique is proposed, which preprocesses the operating commands and designs a smoothing shaper, which is placed before the energy controller.
The crane system can be known as a second-order oscillation system through a crane dynamic model, and the second-order oscillation response of the smooth shaper is
Figure DEST_PATH_IMAGE026A
Wherein
Figure DEST_PATH_IMAGE027A
For a damping ratio, the amplitude of the system response is
Figure DEST_PATH_IMAGE028A
Wherein
Figure DEST_PATH_IMAGE029A
，
Figure DEST_PATH_IMAGE030A
。
Zero oscillation is achieved by constraining the oscillation response and amplitude of the smooth shaper to zero.
The crane system knows that the energy controller needs to be robust, thus increasing the robustness at natural frequencies and damping by
Figure DEST_PATH_IMAGE022AAA
And
Figure DEST_PATH_IMAGE025AAA
respectively to natural frequency
Figure DEST_PATH_IMAGE031A
Damping ratio of
Figure DEST_PATH_IMAGE032A
Make derivative constraint to zero, then
Figure DEST_PATH_IMAGE033A
，
Figure DEST_PATH_IMAGE034A
。
Transient vibrations have a great influence on mechanical systems, such as the transport of molten steel in the metallurgical industry, where no liquid is allowed to splash during transport, and in addition to this, by constraining the integral of the smoothing shaper to 1 to ensure that the commands after smoothing do not affect the subsequent system anti-swing output, then
Figure DEST_PATH_IMAGE035A
。
The smooth shaper may be
Figure DEST_PATH_IMAGE036A
The smoothing shaper has the characteristic of shortest adjustment time and is continuous, wherein
Figure DEST_PATH_IMAGE037A
In order to be a model of the natural frequency,
Figure DEST_PATH_IMAGE037AA
in order to model the frequency of acquisition,
Figure DEST_PATH_IMAGE038A
in order to model the damping ratio,
Figure DEST_PATH_IMAGE038AA
in order to model for obtaining the damping ratio,
Figure DEST_PATH_IMAGE039A
in order to damp the periodic model of the oscillation,
Figure DEST_PATH_IMAGE039AA
in order to model the period of the damped oscillation,
Figure DEST_PATH_IMAGE040A
is a constant.
Figure DEST_PATH_IMAGE041A
. The designed smooth shaper has zero oscillation characteristics at the design point (model frequency and damping ratio) and the derivatives to the frequency and damping are zero at the point, so the smooth shaper has good robustness. This smoothing shaper is a composite of a plurality of notch filters and a low pass filter. The smooth shaper can provide 5% vibration suppression effect in a range from-19% of natural frequency model error to infinity, effectively reduces interference of liquid fluctuation gravity center, and realizes accurate positioning of a system.
In order to restrain load oscillation caused by liquid gravity center fluctuation induction, a smooth shaper is provided, an operator command is preprocessed before a control command is sent to a driving structure of a flexible mechanical system, and the purpose of fundamentally eliminating the load oscillation of a crane system is achieved in the process of driving the crane system to move through the preprocessing command. Under the subsidization of ' high-temperature molten metal transportation safety monitoring early warning and anti-rollover technical equipment research and development (2017YFC 0805104) ' which is one of the subjects of ' high-temperature molten metal operation accident prevention and control technical research ' of the national key research and development project (2017YFC0805100 '), the passivity of a crane system is adopted to carry out deep research on the open problem of crane sway elimination control with double-pendulum characteristics, corresponding theoretical analysis is carried out, and the feasibility and the effectiveness of the provided method are fully verified through a large number of numerical simulations and actual experiments.
The invention has the following beneficial effects: the energy controller realizes the quick and accurate positioning of the load of the bridge crane system and effectively inhibits the swinging of the load; meanwhile, the influence of the gravity center of the liquid on the system under the condition that the load is in a high-temperature liquid state is considered, the smooth shaper is used for preprocessing the operation command, the load hanging oscillation induced by the liquid shaking is fundamentally eliminated, and the robustness is high. The transient control performance of the system is effectively improved while the swing eliminating positioning of the trolley is well realized.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims (10)

1. The anti-splashing control method for the high-temperature molten metal transfer crane is characterized by comprising the following steps of:
s1: establishing a dynamic model based on a bridge crane system;
s2: an energy controller for positioning a bridge crane system load is established based on a dynamic model.
2. The method as claimed in claim 1, wherein the step S1 includes:
s11: establishing a two-dimensional bridge crane dynamics model according to Lagrange's equation
Figure DEST_PATH_IMAGE002
；
S12: transforming a two-dimensional bridge crane dynamics model into
Figure DEST_PATH_IMAGE004
；
Wherein
Figure DEST_PATH_IMAGE006
The quality of the trolley is the quality of the trolley,
Figure DEST_PATH_IMAGE008
in order to load the mass,
Figure DEST_PATH_IMAGE010
in order to move the trolley, the trolley is moved,
Figure DEST_PATH_IMAGE012
the length of the rope between the trolley and the load,
Figure DEST_PATH_IMAGE014
is the driving force received by the trolley,
Figure DEST_PATH_IMAGE016
is the friction force that the trolley is subjected to,
Figure DEST_PATH_IMAGE018
in order to be the swinging angle of the load,
Figure DEST_PATH_IMAGE020
is the acceleration of gravity.
3. The method for controlling the spatter prevention of the high temperature molten metal transferring crane according to claim 1 or 2, wherein the step S2 comprises:
s21: establishing a system energy storage function, wherein the energy storage function is
Figure DEST_PATH_IMAGE022
，
Wherein
Figure DEST_PATH_IMAGE024
In order to determine the positioning error of the trolley,
Figure DEST_PATH_IMAGE026
，
Figure DEST_PATH_IMAGE028
is the target position of the trolley,
Figure DEST_PATH_IMAGE030
to be at a preset time
Figure DEST_PATH_IMAGE032
When the trolley is in the preset position,
Figure DEST_PATH_IMAGE034
，
Figure DEST_PATH_IMAGE036
，
Figure DEST_PATH_IMAGE038
、
Figure DEST_PATH_IMAGE040
are all control gains;
s22: to pair
Figure 741070DEST_PATH_IMAGE022
Is subjected to derivation to obtain
Figure DEST_PATH_IMAGE042
Setting the acceleration of the trolley to
Figure DEST_PATH_IMAGE044
To guarantee energy storage function
Figure DEST_PATH_IMAGE046
The energy decays monotonically to 0;
s23: the feedback controller is designed as
Figure DEST_PATH_IMAGE048
。
4. A high temperature molten metal handling crane splashback prevention control method as claimed in claim 3, wherein: the steps between S1 and S2 further include: a smooth shaper is established based on the kinetic model to suppress oscillations of the system by smooth shaping.
5. The method of claim 4 for controlling the high temperature molten metal handling crane to prevent splashing, wherein: the second order oscillation response of the smoothing shaper is
Figure DEST_PATH_IMAGE050
Wherein
Figure DEST_PATH_IMAGE052
For a damping ratio, the amplitude of the system response is
Figure DEST_PATH_IMAGE054
Wherein
Figure DEST_PATH_IMAGE056
，
Figure DEST_PATH_IMAGE058
。
6. The method of claim 5 for controlling the high temperature molten metal handling crane to prevent splashing, wherein: zero oscillation is achieved by constraining the oscillation response and amplitude of the smooth shaper to zero.
7. The high temperature molten metal transferring crane of claim 6, wherein the crane is a craneThe outer splashing control method is characterized by comprising the following steps: by passing
Figure DEST_PATH_IMAGE060
And
Figure DEST_PATH_IMAGE062
respectively to natural frequency
Figure DEST_PATH_IMAGE064
Damping ratio of
Figure DEST_PATH_IMAGE066
Make derivative constraint to zero, then
Figure DEST_PATH_IMAGE068
，
Figure DEST_PATH_IMAGE070
。
8. The method of claim 7 for controlling the high temperature molten metal handling crane to prevent splashing, wherein: by constraining the integral of the smoothing shaper to 1 to ensure that the smoothed command does not affect the subsequent system anti-swing output, then
Figure DEST_PATH_IMAGE072
。
9. The method of claim 8 for controlling the high temperature molten metal handling crane to prevent splashing, wherein: the smooth shaper is
Figure DEST_PATH_IMAGE074
Wherein
Figure DEST_PATH_IMAGE076
In order to be a model of the natural frequency,
Figure DEST_PATH_IMAGE078
in order to model the damping ratio,
Figure DEST_PATH_IMAGE080
in order to damp the periodic model of the oscillation,
Figure DEST_PATH_IMAGE082
is a constant.
10. The method of claim 9 for controlling the high temperature molten metal handling crane to prevent splashing, wherein:
Figure DEST_PATH_IMAGE084
。
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CN113589692A (en) * 2021-07-16 2021-11-02 浙江理工大学 Enhanced damping type nonlinear control method considering double-pendulum effect of bridge crane
CN113879970A (en) * 2021-09-08 2022-01-04 河南科技大学 Energy coupling-based anti-swing positioning segmented control method for bridge crane
CN117105096A (en) * 2023-09-25 2023-11-24 哈尔滨理工大学 Sliding mode control method suitable for rope-length-variable double-swing type ship crane

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