Sling tray mechanical anti-swing system simulation and modeling of ship-mounted crane

Guang-Dong Han,Wen-Qi Duan,Haiquan Chen,Tong Zhang,Sheng-Hai Sheng-Hai,Jinnan Zhang,J Detand,J.A Self,D Ruxu,J Gunsing

doi:10.1051/matecconf/201710402016

Abstract

To suppress the swing of the payload, a kind of sling tray anti-swing device was designed, which reduced the length of the lifting rope to reduce the swing of payload. The kinematic equations of the payload were established under the condition of whether anti-swing device was provided, and the dynamic was carried out in Mat lab/Simulink environment. The swing of the payload under different rolling angles was analysed in a comparative manner. The results showed that the in-plane angle reduced 60% and out -plane angle reduced 55% of the payload in the case of the anti-swing device. The simulation results verified the effectiveness of the sling tray anti-swing device.

Highlights

Ship-mounted cranes are commonly used in cargo handling, offshore installation and replenishment at sea
The kinematics model of payload system is established to study the swing of the payload
There are two commonly used methods to study the dynamics of the ship-mounted crane: one is to simplify the effect of the hull on payload to the hanging point of lifting arm [2,3,4]

Summary

INTRODUCTION

Ship-mounted cranes are commonly used in cargo handling, offshore installation and replenishment at sea. The kinematics model of payload system is established to study the swing of the payload It is very important for safe and efficient operation of ship-mounted crane [1]. There are two commonly used methods to study the dynamics of the ship-mounted crane: one is to simplify the effect of the hull on payload to the hanging point of lifting arm [2,3,4]. JANG built dynamic model of ship-mounted container crane [10], and designed a T-S fuzzy controller to reduce the payload swing. ISMAIL built the three-dimensional model of offshore boom crane [11], designed a second order sliding mode controller which could track to expect trajectory while reducing the payload swing. WANG Yang conduct the analysis of the motion characteristics of the anti-swing system under rolling condition of crane sling four rope system [13], And put forward the anti-swing device for a rigid rod

KINEMATICS MODEL OF PAYLOAD SYSTEM

A C O2 p

Findings

CONCLUSIONS