Study On The Swing And The Control Method Of The Hoisting Cargo On Ship-Mounted Rotary Crane

The ship-mounted cranes become more and more important during the Transshipment of cargo,but the swing of the goods in the process of transshipment greatly reduces the work efficiency.Based on this background,this paper aim at the swing problem of rotary crane in the process of lifting goods,expecting to find a method for suppressing goods swing.Based on the motion characteristic of jib-type rotary ship-mounted cranes,its simplified physical model is studieded firstly.Applying the Lagrange equation,the mathematic modeling of ship-mounted crane is achieved,and the model's correctness is validated.The mathematical model of ship crane is improved by considering the effects of ship rolling,pitching and heaving,and wind.The mathematical model of the crane is established considering the above factors respectively,and the mathematical model of the crane under complex conditions is also established.Through numerical simulation: compared with the basic conditions,the swing angle of the crane is increased under roll and pitch conditions;the swing angle has little changed under heave condition;the swing angle is increased under complex condition.Based on the study of existing anti swing control method,finally use the input shaper.And combined with the optimization algorithm,the optimal input shaper is geted.Based on the mathematical model under different operating conditions,the input shaper is used to control the swing.Under basic condition,the anti vibration effect of ZVD shaper,EI shaper and optimal input shaper are better;Under roll and pitch conditions,EI shaper and optimal input shaper are relatively better,but the anti swing effect is not so good compared with the basic conditon.Under heave condition,anti swing effect of EI shaper and optimal input shaper are very good;Under the wind load condition,the anti swing effect of optimal input shaper is the best;Under complex condition,the anti swing effect of all shapers are general.