Dynamic Simulation And Control Research For Ship-borne Special Crane Based On ADAMS

The thesis established a united controlling simulation system of a ship-borne special crane based on ADAMS and MATLAB, which used fuzzy cerebellar model articulation controller(FCMAC) as servo controller to make dynamic simulation and control research for this system.Ship-borne special crane is a marine crane system for fast-transporting and loading goods, it being used more and more widely. It is significant for the controlling research and simulation of ship-borne special crane. The working condition of the ship-borne special crane is that it uses the joints to drive connecting rods so that the load which hanging at the end of the crane could be transported and loaded into the designated location. Therefore, the ship-borne special crane system can be considered as a marine multi-joints mechanical arm system. Firstly, the thesis deduced kinematic and dynamic equations of the ship-borne special crane by means of establishing mathematical model of robots, and established the mathematical model of the special crane. Secondly, chose a virtual prototyping technology sofeware named ADAMS to establish kinematic and dynamic model of the ship-borne special crane. Finally, the simulation showed that the mobility and rationality of the model.Various kinds of disturbance and load's changing caused by swinging are impact the ship-borne special crane when the crane is working. So, the crane is a complex multi-input and multi-output nonlinear coupling system. The crane has dynamic characteristics of time-varying, strong coupling and nonlinear. Therefor, it's difficult to control the crane. The intelligent control has a unique advantage to control and deal with such non-linear mapping relations. The thesis analysed of advantages and disadvantages of fuzzy logic control and cerebellar model articulation controller (CMAC) through in-depth study on them, and combined both of them to set up a fuzzy cerebellar articulation controller (FCMAC) which fit for the control of the ship-borne special crane. The fuzzy cerebellar articulation controller has both inductive reasoning ability of fuzzy control and rapid self-learning ability of CMAC. It's able to control the system better. The thesis used FCMAC to control trajectory tracking of the ship-borne special crane system. The result of MATLAB simulation showed that FCMAC is good at trajectory tracking and FCMAC demonstrated good control effects.In the end, the thesis established a united control system which based on dynamic model of ship-borne special crane in ADAMS and control system in Simulink of MATLAB, and the dynamic simulation and control research for the ship-borne special crane system by FCMAC were build. The co-simulation showed a good result for trajectory tracking, verified the good control effectiveness and performance of FCMAC. It also showed that combination with virtual prototyping technology and control system simulation technology is feasible. The method of co-simulation has characteristics of visual, fast, low-cost and high-quality. It provided a good idea for controlling and simulation of complex systems.