Design Of Measurement And Control System For Marine Crane Anti-swing Technology Bench And Experiment On Tension Anti-swing

Shipboard crane is one piece of important equipment on the ship deck.It is an important equipment related to ocean trading.Its operational efficiency and safety have a major impact on the entire marine transportation industry.However,recently shipboard cranes are subject to the excitation of the ship during operation and cause large swings which affect the efficiency and safety of the work.In order to improve the operation efficiency and safety of shipboard cranes and greatly speed up the operation of goods,it is urgent to study anti-swing shipboard cranes.This paper studies the anti-swing of the crane payload system,designs a three-rope anti-rolling shipboard crane,and position following control and tension control are carried out by using three anti-swing ropes,and add PID control during tension control,test to verify the anti-swing effect.The main research contents of this paper are as follows:(1)Dynamic analysis of the shipboard crane payload system.The shipboard crane model is simplified,the mathematical model of the shipboard crane payload system is established by Lagrangian equation,and the simulation analysis of the shipboard crane’s luffing and turning process is carried out by using the MATLAB software.The payload swing regulation is obtained,and the accuracy of the mathematical model is verified.Nextly,the ship incentive is added,and the Newton method is used to establish the payload mathematical model and simulation analysis.Then three anti-swing rope position following control and tension control schemes are proposed for reducing swing,and the mathematical model of three anti-swing rope position following control and tension control are established and analysis,provide a theoretical basis for the following programming of the anti-swing crane test platform.(2)Selection of required hardware equipment,sensors,motors for the anti-swing crane.(3)Design of the measurement and control system of the anti-swing crane.The payload angle measurement system is designed based on the NI data acquisition card.The motion control system of the anti-swing crane is designed based on NI motion controller,and PID control is added when the three anti-swing rope tension control is carried out.(4)According to the above-mentioned anti-swing scheme,the anti-swing control programming of the anti-swing crane was carried out,and the experimental research on the position following control and the tension control of the shipboard anti-swing crane test was carried out,and the anti-swing effect was over 50%.Prove the effectiveness of the anti-swing scheme.