Dynamic Analysis And Anti-swing Control Of Ship-mounted Crane Payload System

Ship-mounted crane is a kind of handling equipment onboard ship,which can be widely used in ship's replenishment,windmill installation,cargo lifting,launching and retrieval of Autonomous Underwater Vehicle,and other offshore operations,thus it is one of the core equipments in the field of naval architecture and ocean engineering.However,due to ship's nonlinear base excitation and the crane's underactuation,the payload will inevitably swing and might hit other objects or the operators nearby,this in turn can cause property damage or even casualties,meanwhile the efficiency of lifting operation would be lowered enormously as well.Therefore,with the rapid development of automatic control technology,the payload system dynamics and anti-swing control of ship-mounted crane has attracted increasingly growing interests from researchers both at home and abroad,becoming a hot research topic within the robotics and control community.Although a lot of interrelated rearch has been carried out by researchers at home and abroad ending with a great many significative achievements,there are still some open problems waiting for solutions till now,such as modelling and analysis of muti-degree rigid-flex coupling robotic system,anti-sliding and anti-swing of double-pendulum payload system,the mechanical anti-swing device's interfere to the crane operation.Concentrating on these open problems,the following work are carried out in this paper:firstly,a kind of triple-tagline mechanical anti-swing device is proposed,and a series of dynamic models with different complexities are built for scenarios with or without base motions and mechanical anti-swing device;secondly,systematic and thorough dynamic analysis is carried out on the basis of the dynamic models;thirdly,the payload anti-swing control of land-based crane is investigated,on the one hand for the overhead crane,the optimal control of double-pendulum payload and the model reference control of single-pendulum paylad are carried out,on the other hand,the payload anti-swing control of the boom crane is conducted based on inverse kinematics and model reference;finally,the payload anti-swing control of ship-mounted crane is investigated,on the one hand the electric anti-swing control is carried out based on inverse kinematics and model reference,on the other hand the mechanical anti-swing control on the basis of the triple-tagline method.By finishing these work,the main contributions of this paper include the following aspects:(1)The dynamic model of the ship-mounted crane payload system with stabilized platform is built by using the combination of Newton-Euler Method and Lagrange Method,solving the problem that the rigid-flex coupling robotic system is difficult to model by any single conventional method because the system has too many degrees of freedom;meanwhile,a combined ship motion compensation(CSMC)scheme is proposed considering the shortage of direct ship motion compensation(DSMC)scheme in power comsuption,and dynamic analysis is carried out to verify the advantage of CSMC.(2)A triple-tagline mechanical anti-swing device and a tension setting method based on damping principle are proposed;meanwhile,the kinematic,static and dynamic models of the mechanical anti-swing device are built in a systematic manner;in addition,a tension constraint is obtained for the taglines.Therefore,the problems of position synchronization and tension setting of the three taglines are theoretically solved.(3)The payload anti-swing expertiment of ship-mounted crane equipped with mechanical anti-swing device is carried,which verifys the validity of the proposed tension setting method based on damping principle,meanwhile,the influence rules of tension setting value and threshold on the anti-swing effect are obtained;in addition,a tension/position combined control method is proposed,which solves the interference of the mechanical anti-swing device to the crane operation.(4)The single-point lifting process of double-pendulum payload is devided into two phases,the constraint phase and the free hanging phase,a semi-automatic control method with a speed envelop is proposed for the former,and a optimal controller with an observer is designed for the latter,which theoretically solve the anti-sliding and anti-swing problems in the full lifting process.(5)An anti-swing control method is proposed based on inverse kinematics and model reference,which has relative less control parameters need to tune,meanwhile,these parameters have clear physcial meanings and are relative easy to tune;in the meantime,a variable-gain strategy is proposed,which solves the interaction between feedback and feedforward part.