In practical applications, a large number of current research efforts regarding overhead crane systems tend to overly simplify them by adopting a single pendulum-element point model. Nevertheless, this paper puts forward a three-dimensional (3-D) model for the overhead crane with a distributed mass load, which conforms more closely to the actual engineering requirements in the real world. To cope with the complexity brought about by the numerous state variables related to overhead cranes, a novel coupling signal is introduced in this paper. This signal combines the swing angle information with displacement signals, thus strengthening the interaction among the states of the system. Moreover, a new energy-like function is developed on the basis of this coupling signal, which helps to facilitate the design of a nonlinear controller that takes swing angle data into account. Experimental results demonstrate that this approach can remarkably improve the positioning accuracy of the system as well as its performance in suppressing the swing angle. It is particularly worth noting that this approach shows robust performance even when confronted with variations in the physical parameters of the system and non-zero initial swing angles.

中文翻译：

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基于能量耦合的分布式质量载荷三维桥式起重机非线性控制器设计

在实际应用中，当前大量关于桥式起重机系统的研究工作倾向于通过采用单个摆式元件点模型来过度简化它们。尽管如此，本文提出了一种具有分布式质量载荷的桥式起重机的三维 （3-D） 模型，该模型更符合现实世界中的实际工程要求。为了应对与桥式起重机相关的众多状态变量带来的复杂性，该文引入了一种新的耦合信号。该信号将摆动角信息与位移信号相结合，从而加强了系统状态之间的交互。此外，基于该耦合信号开发了一种新的类似能量的函数，这有助于促进考虑摆动角数据的非线性控制器的设计。实验结果表明，该方法能够显著提高系统的定位精度及其抑制摆动角的性能。特别值得注意的是，即使面对系统物理参数的变化和非零初始摆动角，这种方法也显示出稳健的性能。