Spreader Motion Collision Of Quayside Container Crane Simulation Training System

The Container Crane Training Simulator is a high-tech product, integrating virtual reality technology, computer simulation technology and communication technology.It is developed to train the operator.There is no successful domestic product and experience for us to use for reference at present.Shanghai Maritime University started to develop the Container Crane Training Simulator in 2000.The foundation and solvement of dynamic equations of the spreader collision is one of the key and difficult points in the Container Crane Training Simulator.In the course of movement, the spreader may collide with objects around, including containers on the ship and the truck, equipment of the ship, the beam of the crane, the truck, etc. According to the form of collision, we can judge if the spreader land on the container and carry on the movement of the spreader.The main research contents and work of this paper include:1 .Possible forms of collision during the movement of the spreader and possible forms of movement after collision are analysed.Before collision the spreader may move along only one coordinate axis.lt is possible for the spreader to move along two or three coordinate axes simultaneously. The spreader may move on a plane or in three-dimension space.On the basis of summarizing the process of setting the collision model of the container crane, this paper analyses possible forms of collision during the movement of the spreader and possible forms of movement after collision.They include all possible forms of movement after collision when the spreader move along only one coordinate axis and when the spreader move along two or three coordinate axes simultaneously.Then this paper analyses forms of movement after collision when the spreader move along only one coordinate axis in detail.The collision movement forms at the time of two-dimension or three-dimension movement combine the collision movement forms at the time of one-dimension movement.2.This paper founds dynamic equations for several typical forms of collision and movement after collision when the spreader move along only one coordinate axis.lt founds differential equations for the course of collision with the theorem of impulse and impulse torque. Then it founds differential equations for the planemovement of the spreader after collision with the theorem of centroid movement and the momentum theorem.Last it founds differential equations for the space movement of the spreader after collision with the theorem of centroid movement and Euler Equations.3.This paper draws the solution for the dynamic equations with Gill Formula and Milne-Hamming Formula and c language programming at the computer.So we get the coordinates and angles in three directions.And the position of the spreader is specified.Then it program in c language and display the position of the spreader once in every 0.09 seconds. What we saw is that the spreader is moving in succession in eyes.The process of the movement shows that the movement of the spreader agrees with the theory. That is to say this paper has realized the movement of the spreader correctly. .:...