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The Anti-Swaying Research of Ship-Mounted Rotary Crane

Author: JiaZhiYong
Tutor: ZhangXiaoHua
School: Harbin Institute of Technology
Course: Electrical Engineering
Keywords: Derrick crane Anti-sway control Input shaping Active hook ADAMS
CLC: U667.5
Type: Master's thesis
Year: 2007
Downloads: 192
Quote: 4
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Abstract

As the 21st century, the growing demand for energy, marine energy strategy has become the focus of the world have stepped up efforts to develop marine resources, making the boat crane in the ascendant in marine construction has been rapid development, at the same time In a large container ship crane ship sea distribution and handling of materials and supplies and other military vessels have played a pivotal role, but the work load of the swing to become safe and efficient operation of the system bottleneck. Therefore, the implementation of effective anti-ship crane sway control can not only increase productivity, bring direct economic benefits while on military strategy will also gain an advantage. This topic is against this background, on board crane anti-sway control study. First, according to the rotary motion of the system tappet derrick crane features abstracted its simplified physical model, using analytical mechanics Lagrangian equations and analytic methods to establish a mathematical model of the cable car system on board, and its correctness the simulation. Given the system positioning movement of the load swing impact application input shaping principle of combination of optimal control algorithm design of the system when working pendulum length given optimal input shaper; then the sensitivity curve of the input shaper, using vector methods designed a system variable pendulum length when working three peak height robust input shaper. Digital simulation results show that the designed controller effectively implement the system after positioning the zero residual load swing. Taking into account the indirect system work load caused waves swing, drawing on AMD systems in civil engineering design of a novel active hook at its optimal parameters based on the weighting function by choosing the best, based on mixed sensitivity hook system designed H_ ∞ active controller; and parameter changes for the system stability theory using secondary active controller has been improved through digital simulation results verify the controller inhibit the waves affect the validity of the load swing. In order to more vivid and effective verification system onboard crane anti-sway controller performance, the paper finally through virtual prototyping technology, the establishment of joint MATLAB and ADAMS simulation platform, the greatest degree of simulation of the actual cable car system throughout the boat, and experimental results further demonstrate that the proposed control strategy.

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