Abstract
At present, marine resources, especially the deep-sea resources, are becoming more and more important in resource exploitation globally, and hence, widely used deep-sea cranes are playing essential roles. For such systems, the bridge frames and trolleys are set up above the water, while payloads are transported under the water. In this underwater situation, there exist hydrodynamic forces such as complicated disturbances to the crane systems, making the payload vibration and rope flexibility more obvious. For the sake of improving working efficiency, considering the constraints of all the state variables, an anti-vibration trajectory is designed for the trolley motion, which can not only ensure trolley positioning but also suppress the flexible payload’s vibrations. Then, the state variables are constrained within preset safety ranges. Finally, numerical simulation results prove the satisfactory performance of the designed method.
Highlights
In these years, as powerful equipment, cranes have been widely applied in architectonics, nuclear power construction, petrochemical industry, port construction, industrial environmental protection, and so on
According to various practical applications, cranes can be divided into rotary cranes, tower cranes, gantry cranes, overhead cranes, and so on
The main contributions of this paper are summarized as follows: (1) without simplifying or linearizing the dynamic model, an anti-vibration polynomial-based trajectory is designed, which can meet the requirements of payload transportation and improve the efficiency; (2) a function s(t) is constructed to obtain the proposed trajectory, which can eliminate the residual vibration; and (3) the proposed method can solve the problem of transporting the flexible payload smoothly in the deep-sea environment, considering complicated hydrodynamics
Summary
As powerful equipment, cranes have been widely applied in architectonics, nuclear power construction, petrochemical industry, port construction, industrial environmental protection, and so on. The main contributions of this paper are summarized as follows: (1) without simplifying or linearizing the dynamic model, an anti-vibration polynomial-based trajectory is designed, which can meet the requirements of payload transportation and improve the efficiency; (2) a function s(t) is constructed to obtain the proposed trajectory, which can eliminate the residual vibration; and (3) the proposed method can solve the problem of transporting the flexible payload smoothly in the deep-sea environment, considering complicated hydrodynamics. To obtain the deflection values of the flexible payload based on the trolley movement, the finite difference method (FDM) is applied to solve the partial differential equation (PDE) in equation (4). Red dashed line: displacement x(t), black dotted line: velocity v(t), and blue solid line: acceleration a(t)
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