Adaptive Control of 3D Gantry Crane Considering Rope Length Variation

In recent years, with the development of the economy, the control of harbor container cranes has attracted the attention of researchers. Tianjin Port is the first large comprehensive port in the north of China, the efficiency and work stability of port container cranes will directly affect the development of the port economy. In the face of market demand continues to large-scale, automation, and intelligent development, there is an urgent need to design a set of control methods suitable for port container cranes. To this end, this paper proposes a three-dimensional gantry crane system based on a sliding mode surface adaptive control method under the case of time-varying rope length and theoretically proves that the method can make the trolley arrive at the specified position quickly and accurately, and can effectively inhibit the load and the swing angle of the trolley through Lyapunov stability and Barbalat’s Lemma The effectiveness of the method is proven. Finally, the good performance of the method is proved by setting up a Simulink platform for a series of simulations and comparing it with the PD control method. The design concept of this control method can be widely applied to the design of other adaptive control methods.