Container Crane Training Simulator Seat Vibration Control Design Study

Nowadays with the increasing development of shipping economy in the world, the port trades are more prosperous than ever before. Advanced crane equipments, well-trained staff and sophisticated management are in need for the immense throughput in the port. However, because of the expensive equipments and the consideration of working efficiency, we cannot train the staff with the real equipments in the working spot. For this purpose, we developed the Container Crane Training Simulator to instruct the driver in the virtual environment. On the basis of virtual reality, it is a combination of mechatronics technology, information technology, controlling technology, multimedia technology and etc. It's the first set of Crane Training Simulator of this type in our country.Our Crane Training Simulator is not finished yet. Although it can simulate lots of function of the operation, including real operation environment, real 3D image, real sense of sound, but the system could not simulate the sense of vibration. When the students are in the operation of Crane Training Simulator, the chair vibration control system should make the driver's chair bumping, inclining, weaving and deflecting as the real work environment does.The study work in this paper is under the background of the Container Crane Training Simulator. It is subjected to the vibration control system of the driver's chair, which is one of the subsystems of the Container Crane Training Simulator. By integrating the driver's chair, electro-thrust cylinder, AC servomotor, servo driver, D/A card, timer/counter, digital I/O card and industrial personal computer, we construct the AC servo real-time control system to make the chair's vibration controlled. Because the Windows is a multi-application, multi-processes system, it's hard to use time interrupt to attain real control, we use the PCL-836's hardware interrupt and Tvichw32 work together, so the real-time control is easy to attain.The real chair vibration status is very complicated, it's not easy to simulate the whole vibration as in the real environment. It's suggested that the single axiscontrol system can work as well as the multi-axis one. And use the single one, it's economical in the hardware investment and easy to develop. There are two-vibration excitation modes: simulation mode and standard function mode. The standard function mode is that the system's excitation functions are sine wave, square wave and curve of free little damped vibration, the vibration's frequency are about 2Hz. The vibration mode must be in accord with the crane's work status in the vision computer. The simulation mode is that the vibration excitation's data comes from the sample in the real work environment, so the sense of vibration is stronger than the former one.The application of the system will improve the functions of the training simulator; it will play a good part in teaching the driver students, elevating the handling efficiency of the container crane and enhancing the management for the container ports. It also can be used in crane's chair active vibration control, the vibration will be restrained or weaken, so the driver will feel more comfortable.