Anti-sway Control Simulation Research Of Hydraulic Crane

Marine hydraulic crane is a rotary crane which is mounted on the ship deck. Its main functionis to make up for the shortage of the port handling machine and to transfer cargoes between shipsin open water. In the working process of the crane, the payload would sway due to the influences ofthe operating strategy of crane driver and working environment. The shock and vibration producedby the swaying will influence the working efficiency and safety performance of the crane, so it isnecessary to minimize the payload swing of ship hydraulic crane.It is dangerous to study the anti-sway control on the real crane directly, so in this paper thevirtual prototype of ship hydraulic crane is built and then study the anti-sway control strategy onthe virtual prototype. The study object of this paper is the marine hydraulic crane in the laboratory.The3D design software Pro/E is used to build the geometric model of the crane; then the model isimported to the Adams software to define the parts relative motion and build the cable model andwave. The model of the crane hydraulic system was built up by the AMESim software. Theco-simulation of Adams and AMESim is carried out, thus achieving the establishment of thevirtual prototype of the complete marine hydraulic crane. The established virtual prototype wasverified using the ways of theory and experiment, and then modified until the model can replacethe actual crane. The mathematic model of the payload sway of the crane is built by the Lagrangeequation. The simulation results on the mathematic model and virtual prototype model show thatthe movement of the crane luffing mechanism has little effect on the payload sway. The delayfeedback control technology is adopted to control the payload sway; the trial function method isused to analyze the stability of the controlled system with payload sway of the crane; and then thedesigned anti-sway controller is applied on the virtual prototype of the crane. The simulation re-sults show that it is useful to minimize the marine payload swaying by using the delay feedbackcontrol technology to control the operation of the slewing mechanism of the marine hydrauliccrane.