Research And Experimental Verification On The Control System Of A Folding Arm Telescopic Active Wave Compensation Crane

During maritime replenishment operations,the movement of ships caused by wave motion may cause collision or re suspension between goods and the supplied ship,resulting in damage to goods or equipment.Generally,ship mounted cranes with wave compensation function are used for operations to achieve safe operation in harsh sea conditions.The existing active wave compensation cranes have large tonnage and high prices,and are mostly used for deep-sea lifting operations.In the replenishment operation of islands and reefs,it is necessary to first complete the docking of ships at sea for cargo replenishment,and then the supplied ships will transfer the cargo to the islands and reefs.The crane for island and reef replenishment ships requires small deck space occupation and low cost,and there is currently no active wave compensation crane for island and reef replenishment.This article studies a small tonnage,low-cost folding arm telescopic active wave compensation crane to achieve safe operation of island and reef replenishment.This article studies the hydraulic control system of the active wave compensation crane for island and reef replenishment operations.In response to the need to measure the relative motion of two ships for ship docking and replenishment,a measurement winch based on encoder measurement was adopted instead of using a dual motion sensor(MRU),which solved the expensive cost of dual MRU measurement and the synchronization and transmission of measurement data.According to the requirement of controlling landing speed for cargo supply,a speed compensation control method was adopted.At the same time,in response to the problems of parameter adjustment,time delay,and insufficient compensation accuracy in the hydraulic control system of the active wave compensation crane,a mathematical model of the control system was established,and an RBF-fuzzy PID controller was designed.Through the joint simulation method of MATLAB and AMESim,simulation experiments were conducted on the wave compensation control of the crane system under simulating 2t load under level 3 sea conditions and 1t load under level 5 sea conditions,and a laboratory test bench was used,Design an experimental plan and conduct simulation experiments on the control algorithm.The specific research work includes:Firstly,the speed,position and force compensation principle of the active wave compensation crane and the design requirements of the island reef replenishment active wave compensation crane are introduced.The structure of the folding arm telescopic active wave compensation crane was introduced,and the hydraulic system and control system were designed,and the main technical parameters were determined.Secondly,a mathematical model of the valve controlled hydraulic motor hydraulic control system for the folding boom telescopic active wave crane was established,and a mathematical simulation model of the hydraulic control system was built based on AMESim software.Then,the control strategy of the control system for the folding arm telescopic active wave crane was studied.The short-term prediction of ship relative motion was achieved by using a ship heave motion prediction algorithm based on RBF neural network.A joint simulation of PID,fuzzy PID,and RBF-fuzzy PID control algorithms was conducted using AMESim and Simulink.Finally,complete the experimental verification of the control system.We designed a laboratory experimental plan,hardware connection,and program design,completed the construction of the experimental platform,and conducted control algorithm experimental verification.The simulation and experimental results indicate that the compensation accuracy of the folding arm telescopic active wave crane under the action of RBF-fuzzy PID controller is the highest,which can meet the design requirements.