Quayside Container Handling Crane With Roll Damping Device

Nowadays, the hanger's anti-sway is already the key of improving the loading/unloading efficiency of container crane. Moreover, its research is more urgent with the demand for improving work condition and reducing the driver's intensity.At present, the mode of hanger's anti-way, whether mechanical mode or electrical mode, all have much strong advantages and disadvantages. On the basis of assimilating the benefit of the balance beam that belonged to mechanical hanger's anti-sway mode, the anti-sway method in my paper can overcome the shortcoming of the balance beam's low efficiency through the trolley's speed controlled. Thus, this method can integrate advantages of two kinds of modes— the balance beam and the trolley's speed controlled.On the basis of the similar of the sway of simple hanger system and pendulum swing in the thesis, after analyzing the phase place of the pendulum swing circulation we can easily educe the anti-sway method of controlling the trolley's speed and the generally law of this method.The basic dynamics and controlled equation has been set up, and it is appear to be solved according to Runge-Kutta arithmetic in matlab language in my paper. And then the artificial model of the balance beam that belonged to mechanical hanger's anti-sway mode has been established in those equations.Through analyzing the artificial model of the hanger's anti-sway system and the generally law of the anti-sway method of controlling the trolley's speed, I bring forward the optimizing methods that the Accelerate or decelerate time of trolley is adapted according to the difference position of loading/unloading. And in this optimizing methods the sway of the crane's hanger by reason of the hanger hoisting be considered according to considering approximately actual conditions of the Loading/unloading course.Given the realistic crane's a group of physlcial parameters, the optimizing result that accorded with frontal optimizing methods can be solved and be analyzed qualitatively in the artificial model.On the basis of theory of the simple anti-sway system and artificial model of the balance beam that belonged to mechanical hanger's anti-sway mode, I try to do some beneficial research in the emulation of the computer and improvement of mechanical anti-sway mode. At last I hope my paper can contain some useful experience in this respect.