Research On Dynamic Analysis And Anti-swing Control Of The Marine Crane Lifting System

Along with the implementation of the strategy of sea power in our country, the ocean has become the focus of energy strategy. Marine crane is a rotatry crane which is mounted on the ship deck. Its functions is to transfer cargo between ships or between ships and ports, in addtion, the ship cranes play an important role in the martial material replenishment. However, due to the influence of wind, wave, flow and their own control, the crane lifting system produce oscillation in the process of work, it could affect the work efficiency and safety of Marine crane. Therefore, it is necessary to analyz the dynamic charaterristics of Marine lifting system, and to minimize the hosting swing of ship hydraulic crane. It has very impotant significance to the operation safety and efficiency of Marine crane.The background of this paper is precisely relying on the environment of marine crane. Therefore, the environment of ocean wave is analyzed firstly in this paper. The wave motion equation of sea waves is established in the first place. And then, in order to establish a system of kinetic equations of lifting system by using Lagrange method, the regular wave, as the interference of incentive system, is used to explore the problem. The following is using the numerical analysis method simulated in Matlab. Three factors which influence the dynamic response of lifting system respectively is the rope length, the lifting speed and the excitation frequency.The virtual prototype model of Marine crane is finally built by using Solidworks and ADAMS. Based on the virtual prototype model, the dynamic response of lifting system is analyzed under different excitation conditions and different excitation frequency. The lifting system of trajectory is made. Simulation results consistent with the second chapter, and validate the correctness of dynamic model.In order to minimize the swing of the lifting system, PID control is selected. Design two PID controller to control the slewing and luffing of Marine crane. Trial and error method is used to adjust the parameters of PID controller, finally achieved good control effect of extinction.