Research On Rigid-body Deflection Modeling And Anti-sway Strategy Of Large Quayside Container Hoisting

In the hoisting process of large quayside container,the sway of load is the most important problem,which greatly influences the efficiency of loading,at the same time,it can also cause security threat.Therefore,many researchers have studied the anti-sway method of large quayside container,aiming to make the swaying amplitude reduce to zero or keep it in small range.Among these various anti-sway methods,electronic anti-sway is the most effective one.Former researchers always take the trolley as whole,and they studied the anti-sway method in the direction of trolley movement based on the particle pendulum system.This type of method needs trolley to move in particular way to coordinate the sway of load,which certainly will reduce the speed of trolley and it is lack of flexibility.For the large quayside container,the loading object is rectangular box which has regular shape.It has high efficiency requirements and has complicated working conditions which can be easily affected by other factors.If load has sway which is not in the direction of trolley movement,the existing anti-sway methods cannot achieve the purpose of anti-sway.In this paper,modeling and analysis of anti-sway method based on rigid body deflection is carried out.The specific research contents include:(1)Based on the rigid body deflection model,a multi-rope coordination active anti-shake method is proposed.Analysis the the anti-shake mechanism of the three common direction including trolley,gantry,and rotary.By changing the four additional rope on the tension on the movement of the lifting of the control,so that the swing angle to the fastest speed attenuation,and modeling related technology is researched.(2)Based on the flexible rope force control method,the dynamic differential equation of the crane based on the rigid body deflection system is established.Based on this,the motion characteristics of the rigid body deflection system under no control are analyzed,In the three typical directions of the law of motion,to provide a theoretical basis for the development of anti-sway strategy.(3)Based on the flexible rope control method and the rigid body dynamics model,the input and output variables in three directions are studied,and the MR-C is active in the anti-shake of the motion in the three typical directions.Complete the detailed design of the strategy,the establishment of the control model and the setting of the control parameters.(4)According to the established control model,the MR-C simulation experiment model was established,and the simulation experiment was carried out by using ADAMS and MATLAB.The simulation experiments were carried out in three typical directions.Finally,the engineering simulation example was carried out.In this paper,the MR-C active anti-sway method based on the rigid body deflection model and the anti-sway control performance based on the traditional single pendulum anti-shake method are presented.