The Anti-Swaying Research Of Ship-Mounted Rotary Crane

The ocean has become the focus of energy strategy along with the increasingly expanded energy demand in the 21st century, and the ship-mounted cranes get rapid development during the blossom of ocean construction projects in that all the worldwide countries reinforce their exploitation of ocean resource. At the same time, the ship-mounted cranes play an important role in both the offshore goods distribution of large-scale container ships and the martial material replenishment, whereas the load swaying acts as the bottle-neck of safe and efficient system operation. Considering that the anti-swaying control of ship-mounted crane is desired to not only advance the productivity and obtain the direct economy benefit, but also seize the military predominance. Based on the above background, the anti-swaying control of ship-mounted crane is studied in this dissertation.Based on the motion characteristic of jib-type rotary ship-mounted cranes, its simplified physical model is studieded firstly. By applying the Lagrange equation for mechanical system the mathematic modeling of ship-mounted crane is achieved, and the model's correctness is validated.Considering the load swaying excitated by the orientation motion of system, the theory of input shaping technology combined with the arithmetic of optimal control is adopted to design the optimal input shaper which can only effectively deals with the fixed pendulum-length operation. Consequently a 3 humps high robustness input shaper is developed for the variable pendulum length case by vector diagram calculation. The simulation results illustrate the feasibility of the input shaping used for anti-swaying control of ship-mounted cranes.In order to restrain load swaying influenced indirectly by the ocean wave, an original active hook is designed by consultation of AMD system used in the field of civil engineering, and its H_∞active controller is acquired base on the mixed sensitivity problem through the selection of suitable weight functions. The uncertainty of model parameters caused by the diversity of load makes the robust controller for active hook be modified farther utilizing the quadratic stabilizability. The validity of controller for the restraint of ocean wave influence is approved by the results of simulation experiment.For demonstrating the dynamic characteristic of ship-mounted crane more vividly and the performance of anti-swing controller more effectively, a set of ADAMS-MATLAB dynamic simulation platform is established base on the virtual prototyping technology, which can imitate the practical model farthest, and the experiments implemented on the joint platform show the feasibility of the control scheme much more.