Research On Control Of Ship Crane's Anti-sway Device Based On Tension Change

Ship cranes are widely used in marine hoisting operations,unlike the crane on land,it moves in six-degrees freedom under the environment including wind,wave and fluent.The main difference between ship crane and land crane is the coupling of its own rotation,lifting,luffing and the working environment.When the working environment is complicated and varied,the ship crane hangs seriously and the cargo will be damaged.Most of existing marine cranes in our country are not equipped with professional anti-sway devices,which makes it impossible for marine cranes to work in extreme sea conditions.Therefore,the study of anti-sway device is significant.In this paper,a control design scheme of ship crane anti-sway device which based on tension change is proposed by connecting a hanging stage structure with the sling,which reduces the movement range of the hanging material by reducing the length of the pendulum;By controlling the rotation direction and speed of the servo motor,to control the rope to maintain tension state,through the role of force,so that the swing amplitude reduced in order to achieve the purpose of the reduction.After studying the research situation of the domestic and foreign,this paper proposes a control mechanism of the ship crane based on tension by analyzing the mechanism and the control method,the design and construction of the anti-sway system were completed.,the dynamic analysis of crane hoisting were carried out,and the anti-sway system is simulated and analyzed.Based on this theory,the mechanical device of the anti-sway control system was designed and selected for electrical equipment,and finally complete the work of the assembly.the PDF controller model was designed.The closed-loop control of the tension of the anti-sway rope is achieved.And the PDF controller was simulated by Matlab/Simulink.Completed the PLC control programming.The current and speed of the motor were tracked by using the Trace function of the inverter.Completed the built of the experimental platform,Utilize NI Vision Tracking System,The shrink experiment of the crane anti-sway device was carried out,And the experimental results were analyzed and studied.The results show that the control system of the ship crane based on the tension can greatly reduce the swing amplitude of the crane during the operation of the crane,and the control effect is obvious and the control scheme is effective.