The Anti-sway Control Research Of The Ship'scrane Hook Under The Virtual Waves Environment

In recent years,the ship cranes play a more and more important role in maritime transport in the economic construction.But when the ship cranes work in unstable sea or complex environment,the sharp swings of the hook often occur.This will not only bring security hidden danger to the crane work,but also affect their work efficiency.With the increase of the types of marine cargoes and the improvement of security requirements,the research of the control system of crane hook swing is receiving more and more attention.Based on the above background,taking the operation control of the laboratory 2 tons 3 m hydraulic crane as research object,this paper simulated the ships crane under virtual waves environment and studied the anti-sway control system of the hook.First,the six degree of freedom platform driven by hydraulic system is designed to simulate the deck motion of the ship in the ocean;By using 3D software UG,the parts of the six degree of freedom platform are designed and assembled;the model is imported into the ADAMS software to carry out the kinematics simulation;the hydraulic drive system model of the platform is established by AMESim software to do the united simulation with the platform model built by the ADAMS,in which the closed loop PID is used to control the movement of oil cylinders.Secondly,the deck motion simulation platform and 2 tons 3 m hydraulic crane model are united together to set up a complete ship crane model which working on the moving deck,thus realizing united simulation of the crane control under the virtual waves environment.Thirdly,coordinates of the hook are transformed in order to measure the internal angle and external angle of the hook under the deck motion situation;then the swing conditions of the hook are simulated when the platform is static or moving to compare the internal angle and external angle.Finally,Lagrange equation is adopted to set up the kinetic equation of the crane hook;based on the Kinetic equation,the delayed feedback controller is adopted to implement the anti-sway control research of the ship crane hook when the deck is static,rolling,pitching or heaving.The research results show that the designed six degree of freedom platform can simulate the ship's rolling,pitching and heaving motion well;In the absence of the virtual ship motion,delayed feedback controller has an obvious effect on the anti-sway of the hook,and in cases with virtual ship motion,such as in the simulation of roll,pitch and heave,delayed feedback controller can also play a certain inhibition for the swing of the hook.The research work will lay a certain theoretical foundation for further in-depth study of the anti-sway control of ship crane's hook.