Simulation And Transshipment Control Of Shipborne Crane

According to the national defense study-in-advance proiect named "study on shipborne crane control and survey technology" , this paper gives the dynamic model of shipborne crane and makes fuzzy control for trajectory following.Used for reference of the concept of the virtual link, thinks of the warship as an arm of the crane and builds the coordinate. Therefoce, the weave of the warship is introduced to shipboren crane system, and the system si simple. With regard to the dynamic model of the shipborne crane, the paper builds up the dynamic model only concerning the 1 inks using the normal Lagrange method first of all. Based on the unsymm-etrical hydraulic cylinder theory, the paper gets the dynamic model of the hydraulic drive system including the hydraulic rams and moter in the form of state space. And then a full dynamic state space model of ihe shipborne crane system is deduced out.The control to the shipborne crane rests with the drive power of the hydraulic rams and moter, making the crane arms track the trajectory that has programmed. So that the cargo is transshipped. For the character of the shipborne crane system, the paper linearized the dynamic model through non-linearizd feedback at first, and then fuzzy controller is designed for the dynamic model. In the research work, what has designed is validated by applying to a two-dimensional machine arm.At last, the result of simulation are satisfactory which proves this paper's study and work.