Research On Dynamic Response And Active Control Of The Floating Crane Hanging Object

Along with social progress, increasingly wide range of human activities, production capacity is growing, the attendant problems is to consume a lot of resources. The land-based resources and space has been difficult to meet the needs of social development, countries around the world pay more and more attention to the exploitation of seabed resources. As an important offshore vessel, floating cranes are widely used today. Because of floating cranes always work on the sea, complex environmental loads often cause substantial movement of the floating crane, thereby causing the heave and swing of the hanging object. This is not only a security risk to the floating crane itself, but also affect the efficiency, the duration is difficult to expect. Therefore, obtain the dynamic response of the hanging object accurately, analyze the impact, and implement active control is a mission-critical in floating crane design.Based on the problems of the floating crane encountered in the actual work, this paper establishes the dynamic model of the crane ship, based on multi-body dynamics. The model mainly includes the boom luffing, rotating, and sling lifting movement. Have the numerical solution of the dynamic equations by the Runge-Kutta method. Select a large floating crane as calculation model, analyze the dynamic response of the hanging object system caused by ship motion. PID control is selected, and establishes a mathematical model of the controlled system. Using MATLAB programming, adjust the relevant parameters of the PID controller, reduce the dynamic response of the hanging object system, and achieve the active control to the hanging object.