Research On Dynamic Response And Swing Control Of The Crane Ship Hoisting System

As an engineering plant,crane ship plays an important role in the use of exploration of marine resources.It has been widely used in the seabed drilling and exploitation of submarine oil and gas;,installation of offshore platform modules,shipping and transportation,also seaborne rescue.Due to the complex and variable working conditions in the ocean,the crane ship would inevitably fluctuate along with the wind and tide,which would cause a swing motion in the hoisting system,therefore brings a cease in the hoisting operation.When the sea environment deteriorates,the operation work can be dangerous,even might cause casualties and property loss.Aiming at the practical problems in marine engineering,it is very important to guarantee the stability control of the crane system and enhance the crane ship's ability to resist terrible sea conditions.The major work of this research contained:First of all,this paper chose the crane ship and its hoisting system as research objectives,and during the research,I analyzed the six degree of freedom motion response under sea wave condition using mathematical model of the hoisting system.The researcher deducted the dynamic equations of the hoisting system from the Lagrange Kinetic Equations,also did the tension equations of the lifting rope.Then,through four order Runge-Kutta technique,I obtained the maximum hoisting speed of the load in the duration of lifting while taking the rope length,excitation frequency and initiation speed as three factors that effect the load swing,thus proved and analyzed the existence of the maximum swing response.Secondly,I deducted the control equations of anti-swing hoisting system considering the dynamic characteristic of the derrick barge and the hoisting system.Therefore,the researcher brought out control strategy which based on the PID control,and combined Particle Swarm Algorithm and Fuzzy Theory.After that,I built up the model of anti-swing control system upon the Simulink platform,and studied anti-swing control of the hoisting system under both resonate and irresonate conditions.Later,the author compared this strategy with PID and PSO-PID,therefore revealed the advantage of this strategy.Eventually,based on the function data of certain type 8000-ton derrick barge,whilst combined the jonswap sea spectrum,I collected the six degree of freedom motion response of the hull in the wave.Taking the hull motion response as the excitation input of the hoisting system,through the control algorithm proposed in this paper,the anti-swing control was exerted on the load,and the results showed that the swing motion of the load was notably lowered.In comparison with the swing condition of the load in free status and in PID control status,thus maximum the strength of the control strategy in this research.