Research On Fuzzy Control Of Hanging Object On Crane Ships

With the rapid development of global economy, land resources,which are consumed fast, have been unable to meet the development of society demands. Many countries have been competing to tap the sea, which is a new direction to solve the problem of sources. And our country is blessed with vast sea area. There is great development potential in our ocean, containing enormous reveaves of resouces. It is of great significane to reserch on the technology of marine engineering equipment.As a kind of important marine engineering equipment, the ship crane is widely used in marine engineering task. But in atrocious sea condition, swing and heave of loads will occurs in the process of the lifting of the crane. So the lifting operation can’t continue normally. In order to ensure the safety and effectively of lifting operation, loads control of the ship crane has been an important function.Based on the concept form of the exsting ship turning crane, this paper does research on the active control of loads position. First of all, make preliminary design of loads control. According to the structure characteristics of crane and lifting operations, a control strategy is proposed. In order to control loads swing. Ensure hanging point position in the horizontal plane by crane turning and luffing.And the heave compensation of loads is mainly controlled by sling stretching.Then the detailed control design is given. Establish a mathematical model of the controlled system based on Lagrange energy method. Loads postion is descided by ship motion, sling stretching, rotary angle and luffing. Establish equation between the theoretical value of the control valtage and the parameter related to the hanging position. Then get the actual value of swing control voltage by combining the fuzzy control theory. Through the mathematical deduction, the control equations of swing and heave are established. Finally, using MATLAB programming, a numerical simulation of the crane of double8000tons is taken by the control method in this paper. Simulation results show that the control method improves the dynamic property of the crane system.