The Study Of The Strategy Of The Anti-sway Control For The Ship Crane

In order to improve the transport capacity and reduce the transport cost in shipping,controlling the operation time is very important.The time underway and the time in port both determine the operation time.For the merchant ship the time in port can be reduced by raising the efficient of the cargo handling.The ship crane is a kind of the large mechanical equipment with increased risk,which is often used to complement the lack of the port handling equipment and transfer the cargo between the ships.The crane hook swings during the cargo handling cause the longer cargo positioning time,lower cargo handling efficient,and even the economic losses and casualties with the cargo colliding with the deck.Along with the rapid development of the economic and production,the cargo handling efficient and safety operation are required to be higher,and then the study of the crane hook swings obtains increasing attention.In this paper,the research object is the marine hydraulic crane with 2t-3m in the hydraulic lab of the marine engineering institute of Jimei University.Firstly,the high precision potentiometers are adopted to measure the hook swing angles in-plane and out-plane;the Data Acquisition hardware system with high speed is set up by Advantech IPC-610 L IPC,PCIE-1816 data acquisition card,PCI-1720 U Output Control Card and etc.,and the operation controls of the proportional servo valves and the acquisitions of the hook swing angles are carried out for the slewing,luffing and slewing and luffing operation of the crane,and the analyses of the hook swing angles are carried out for the further anti-swing control study.Secondly,the measuring devices for the slewing angle and luffing angle are set up,and the anti-swing control hardware system is built by the sensing unit and the high speed Data Acquisition hardware system,and the anti-swing control software system is developed based on Visual Basic software platform.Finally,the anti-swing effects are researched by the Classic Proportion Integral Derivative(PID)controller and time-delay feedback controller through the experiments,and the optimal controller parameters are obtained by analyzing the experiment data.The results show that: the hardware and software system for anti-swing control built in the paper can give the real-time and the true hook swing angles.The anti-swing effects of the time-delay feedback controller based on the hook swing out-plane angle are better than the effects of the Classic PID controller;the method of adding time-delay feedback control signal to the slewing operation signal can achieve better anti-swing effects than the other two kinds of signal adding methods.