Investigation On Swing Angle Detection And Anti-sway Control For The Crane Load Of Offshore Transshipment Platform

As an important transshipment equipment, the efficiency of the crane applied to offshore transshipment platform directly affects the development of logistics transportation industry and the efficiency of offshore exploration during operating process. However, due to use flexible rope to lift and transport cargo,the nonlinear operation of the crane in rotating, elevating and hoisting motions will inevitably lead the load swing, which will not only reduce the operating efficiency of the crane and damage the goods, but also threaten the safety of operators. In order to improve the efficiency of the crane applied to offshore transshipment platform and ensure safety and efficiency during operating process,the key is to suppress the load swing and detect swing angle in real time during operating process. For monitoring the load swing angle in real time, at the same time achieve the load swing effectively suppressed, the research on swing angle detection and anti-sway control for the crane load applied to offshore transshipment platform is carried out. The main contains and results are as follows:1. The dynamics analysis of the load swing of crane applied to offshore transshipment platform. The mathematical model of the load swing is established by Lagrange equations; the feature of the crane load swing under pitching and rotary motion of fixed rope length and variable rope length is analyzed through simulation analysis in MATLAB/Simulink, and the correctness of mathematical model is verified. Theoretical foundation of designs of the load swing angle detecting device and anti-sway control system is established through the above research.2. The research of the load’s swing angle detecting method of crane.Considering that the luffing motion and the rotating motion of crane applied to offshore transshipment platform affected the load’s swing angle detecting, theload’s swing angle detecting method is presented. First, according to the angle of the luffing motion the detection device of the load swing angle is arranged in the horizontal position, and then through three dimensional space that consists of two groups of high-speed laser scanner for detecting planar and the distance of boom tip to the plane, load swing angle is detected, realizing swing angle detection to the crane load.3. The design of anti-swing fuzzy controller of the crane. The design method that load anti-sway speed and position double tracking fuzzy controller of crane applied to offshore transshipment platform is presented, and the load anti-sway controller of crane applied to offshore transshipment platform is designed, and simulation analysis in the MATLAB/Simulink environment. The simulation results show that the load anti-sway control can be realized in the pitching motion and rotary motion of crane,and the load reach the target position at same time its swing is suppressed.4. The design of swing angle detection and anti-sway control system of the crane load. Based on the Siemens S7-300 PLC and through the selection of hardware and software programming,the design of the crane load swing angle detection and anti-sway control system is completed.Through the debugging and experiment results show that: in the working process of the crane, according to the load swing angle detection results and through Regulating the speed of rotation of crane by frequency conversion, the crane load swing angle detection device and anti-sway fuzzy control system designed achieve the expected anti-sway control effect in rotary movement of crane. The crane can precisely reach the target position, and its error is less than? 0.1deg, while the load maximum swing angle is reduced to within ? 8deg,which meet the engineering application requirement.