Research On Control System Of Marine Work Boat Retractor On Active Swing Reduction

Marine work boat retractors are a special auxiliary device for ship to store,land and recycle work boats,which is challenged by the marine environment.On the one hand,the system has the problems of high order differential term,coupling of cable length and swing angle.On the other hand,under the strong interference,the swing of the working boat is aggravated,which makes the coupling relationship between the states more complicated.So it is very important to suppress the swing of the working boat in the process of stabilizing the working boat position.Firstly,according to the design requirements and physical characteristics of the retractor and retractor,a kind of damper driven by motor is designed to reduce the vibration of the hydraulic viscous damper.Based on the Newton-Lagrange principle,the motion law of the working boat and the lifting point under the disturbance of the wave moment is analyzed,and the system Lagrange equation with the changing rate of the sling is constructed.Then,according to the different working conditions of the retractable and lowered device of the working boat,the active anti-swing control and the active anti-swing control are designed.In order to solve the problem of increasing swing amplitude without considering the coupling of rope length and swing angle,the former proposes an active swing reduction control strategy considering the trajectory tracking of rope length change.Through the designed active anti-swing control method,the position and pose of working boat can be stabilized.Finally,based on the actual anti-swing device of a certain type of working boat,a simulation platform is set up.The simulation results show that the average swing amplitude is reduced by 63.05%,and the average swing amplitude is reduced by62.03%.Therefore,the proposed active pendulum reduction control method is proved to be effective and accurate.