基于切换式反步法的桅杆起重机吊装与减摆耦合控制OA

To mitigate load swing during hoisting and improve operational efficiency,a switched step backstepping control strategy integrating hoisting with anti-swing functionality was proposed.Firstly,a dynamic model of the derrick crane system was established,and composite state variables were constructed comprising the absolute values of the load swing angle,pitch angle,and rotation angle.A controller was then designed based on the backstepping method,and the stability of the closed-loop system was analyzed piecewise using the Lyapunov direct method.Ultimately,the load can be hoisted to the designated position while reducing the amplitude of both in-plane and out-of-plane swing angles.Subsequently,comparative analyses were conducted among hoisting without swing suppression,input-shaping-based hoisting,and the proposed switched step backstepping control method.Simulation results demonstrate that the switched stepbackstepping control strategy can effectively attenuate load swing,shorten hoisting time,achieve favorable anti-swing performance,and enhance hoisting efficiency.