Design And Experimental Study Of Anti-Swing System Of Ship-Board Cranes

As one of the indispensable deck equipments,the ship-mounted cranes are an indispensable mechanical equipment though the processing of production,transfer and transportation of goods.Owing to the special working conditions,the ship-mounted crane has more complex external excitation problems than the land crane.Because of the uncertainties of offshore working conditions compared with those on the land,the working platforms and ships will be designed with 6 degrees of freedom movements including rolling,pitching,bowing,swaying under the influence of wind,wave,current,surge and other kinds of environmental matters,which will result in a great sway of the pay load of the ship-board crane during the operation and decrease the efficiency,meanwhile the safety of operators can not be guaranteed.To solve this problem,our team designed a ship-mounted three-rope anti-swing crane.In order to further improve the abilities of anti-swing system and make it more efficient,a kind of wave-ship-hoist-load mathematical model is established for the system,and the kinematics,statics and dynamics analysis are carried out.Then a PID controller is designed to simulate with based on data of analysis.Finally the model is verified by our test platform.The main contents and conclusions of this paper are as follows:(1)Mathematical,kinematics and statics models of a ship-mounted anti-swing crane are established by the "D—H" method.The ship motion rolling and pitching curve are obtained through Simulink simulation as the base excitation to simulate the ship's motion at sea.(2)The dynamics of ship-mounted anti-swing cranes are analyzed by the "Lagrangian method" and the "Newton Euler method".(3)A mathematical model of valve-controlled hydraulic motor is established and a suitable PID controller is designed.Speed following of hydraulic motors is simulated by using AME sim(4)A control scheme for different working conditions of ship-mounted anti-swing crane is designed to improve efficiency,reduce excess power consumption.(5)The correctness of the kinematics model and the dynamic model is verified by experiments.At the same time,effectiveness and feasibility of anti-swing control is proved.The anti-swing system effectively reduces the ship induced payload vibration by 80%.