船舶液压起重机延迟反馈吊重消摆控制

由于操纵和工作环境的变化，起重机的吊重在工作过程中会产生摆动，这种摆动降低了起重机的工作效率和安全性能。文章以集美大学轮机工程实验中心船舶液压起重机为研究对象，采用机电液仿真建模技术及拉格朗日方程，在MATLAB Simulink仿真软件平台上，建立起重机操作液压系统及吊重摆动模型，采用与试验数据对比的方法对所建立的模型进行验证。设计基于吊重摆动位置延迟反馈的控制器，通过将延迟反馈信号叠加到操作信号上的方法实现吊重的消摆控制。结果表明，在各种操作情况下，延迟反馈控制器均能很好地抑制吊重的摆动。

Anti-swing of the Cargo Based on Time Delay Feedback for Marine Hydraulic crane

Due to the operations and changes in working environment, cargo will swing during the operation of the crane, and the working efficient and safety performances of the crane will decrease by the swing. The marine hydraulic crane in marine engineering experimental center of Jimei university is taken as the study object in this paper; Mechanic-electronic-hydraulic simulation and modeling technology and Lagrange''s equation are adopted, and the model is built up for the crane hydraulic operation system and the cargo swing system on the platform of the simulation software of MATLAB Simulink; the model is verified by the experimental data. The controller is designed based on the time delay feedback of the position of the swing cargo; by adding the time delay feedback signal to the operating signal of the crane, the anti-swing control of the cargo is achieved. The results demonstrate that: under various operation conditions the cargo swing can be effectively suppressed by the time delay feedback controller