Abstract
2 tons 3 meters ship crane as the research object, establish the complete mathematical model of ship crane, and design the time-delay feedback control algorithm to eliminate payload swing on the basis of the built mathematical model. First, a high-precision potentiometer is used to measure the in-plane and out-of-plane oscillation of the payload. Measuring devices for the rotary angle and variation amplitude angle are created, and the anti-swing control hardware system is built by the sensing unit and the High-Speed Data Acquisition hardware system. Secondly, the control software on the VB platform is developed using the time-delay feedback algorithm. Experimentally study the effect of time-delayed feedback controller on payload swing elimination, and use induction method to get the optimal control parameters of the time-delayed feedback control algorithm. At last, the AMEsim-ADAMS co-simulation platform was built to evaluate the payload sway of the ship crane under simulated working conditions. The results show that: the hardware and software systems for anti-swing control built-in the paper can give the real-time and the exact payload swing angles. The method of adding time-delay feedback control signal to the slewing operation signal can achieve better anti-swing effects than the others. At the same time, the delayed feedback control algorithm still has a nice control effect in the case of virtual ship deck motion.
Highlights
Anti-sway system of hoisting payload is a system to deal with excessive sway of payload during the crane operation
As a kind of rotary hydraulic crane fixed on the deck of a ship, the ship crane can improve the efficiency of port handling, at-sea replenishment, underwater operation equipment launches and recovery [2]
Shenghai Wang et al established a combined ship motion compensation (CSMC) method based on the direct ship motion compensation proposed by the JOURNAL OF VIBROENGINEERING
Summary
Anti-sway system of hoisting payload is a system to deal with excessive sway of payload during the crane operation. STUDY OF ANTI-SWING CONTROL OF SHIP CRANES BASED ON TIME DELAY FEEDBACK. Parker reduces the sway of payload during the operation of ship crane by using the input shaping method, but the system still has a large time delayed [15]. William Sing hose et al [19] takes the dynamic model of a gantry crane as the research object, and proposed an input shaping method to reduce the residual vibration of the load. Based on the above background, a complete mathematical model of crane payload swing is established with a 2-ton 3-meter marine crane as the research object. According to this mathematical model, the time-delayed feedback of the ship crane payload swing elimination control is designed
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