This paper put forward a coupling vibration partial differential equation of the crossbeam,dolly and weight suspension system of the shore container crane on the basis of Hamilton principle.By adopting method of finite element,the modality of beam under the complicated boundary conditions was found out.Let the obtained modality parameters be substituted into the coupling vibration partial differential equation and transform the complex partial differential equation into the variable coefficient nonlinear ordinary differential equation set to acquire the numerical value solution of equation by the method of Runge-Kutta.The effectiveness of this method was verified by means of numerical valued calculation example,and thus a kind of simple and convenient computing method was provided for the common firm and flexible coupling vibration problems in engineering.

主要研究岸边集装箱起重机的防摇及速度控制。首先由输入输出线性反馈得到一个非交互系统,在此基础上分别采用模糊控制器控制小车速度和吊重的摆动以及PID控制器控制吊重绳长和吊重的提升速度。理论分析和数值仿真算例表明该控制方法对于岸桥防摇和速度控制有着较快的收敛速度和较强的鲁棒性。

This paper studies the positioning and anti-sway control of an quayside container cranes.Based on Passive methods,an control Lyapunov function is constructed and an stabilization control law is obtained.Theoretical analysis and numerical simulation shows the controller for the anti-sway control and positioning control has strong robustness.