Research on Anti-swing of Container Gantry Crane as Hierarchical Sliding Mode Control.

It is an important engineering safety problem to control the swing of the suspended objects of container gantry crane. As an important construction machinery for logistics transportation and handling, it is widely used in port container yards. However, due to the flexible characteristics of the wire rope and the heavy working level of the crane container, there will be a large swing during the transportation process, resulting in cargo collision and uncertain load, resulting in cargo damage and casualties. In this paper, a dynamic model of container gantry crane is established according to Lagrange dynamics equation and the controllability of the system is verified. A hierarchical sliding mode controller (HSMC) is designed, and its stability is proved by using Lyapunov theory and Barbalat's lemma. The simulation results show that the controller has high displacement tracking accuracy, can suppress the container swing Angle and attitude pitch Angle in a short time and has strong robustness and stability for the variable system with different parameters. In addition, a platform is built to verify the reliability of the method. [ABSTRACT FROM AUTHOR]