In this paper, a non-stationary enhanced swing angle suppression control strategy is proposed to address the issue of excessive swinging angles during the transportation process of a three-dimensional overhead crane. Firstly, in response to the substantial non-stationary initial swing angle resulting from the abrupt increase in driving force during the startup of the overhead crane, we have devised a time-varying damping resistance model. This model is specifically designed to curtail the rapid force surge, subsequently diminishing the swing angle of the payload. Secondly, during the transport phase of the overhead crane, we have established an augmented coupling signal between the displacement tracking error and the payload swing angle tracking error. Drawing upon the principles of energy dissipation, we have devised a nonlinear sway controller. Next, the closed-loop stability of the control system is validated through the use of Lyapunov’s method and the LaSalle invariance principle. Finally, the proposed control strategy’s effectiveness has been substantiated through simulation analysis and physical experiments. This approach not only proves capable of effectively suppressing excessive payload swing angles during the transportation process of the overhead crane but also facilitates the rapid and precise positioning of the payload. This significantly enhances the efficiency of the overhead crane’s transport operations.

中文翻译：

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非平稳增强摆角抑制三维桥式起重机防摆控制策略研究

针对三维桥式起重机运输过程中摆角过大的问题，提出一种非平稳增强摆角抑制控制策略。首先，针对桥式起重机启动过程中驱动力突然增加而导致初始摆角大幅非平稳的问题，我们设计了时变阻尼阻力模型。该模型专门设计用于抑制快速力波动，从而减小有效负载的摆动角度。其次，在桥式起重机的运输阶段，我们在位移跟踪误差和有效负载摆角跟踪误差之间建立了增强耦合信号。利用能量耗散原理，我们设计了一种非线性摇摆控制器。接下来，利用Lyapunov方法和LaSalle不变原理验证了控制系统的闭环稳定性。最后，通过仿真分析和物理实验证实了所提出的控制策略的有效性。该方法不仅能够有效抑制桥式起重机运输过程中有效载荷过大的摆动角度，而且有利于有效载荷的快速、精确定位。这显着提高了桥式起重机运输作业的效率。