Anti-swing device of ship-borne crane and its dynamic characteristics simulation and experimental study
Aiming at the swing problem of the hoisting system of ship-borne crane,the mathematical model of the anti-swing device of ship-borne crane was established,and the dynamic characteristics of the hoisting system of ship-borne crane in the anti-swing process were studied by using Simulink-AMESim joint simulation method.Firstly,mathematical models of the anti-swing device transfer function and the payload system dynamics were established.The dynamic coupling relationship between working conditions of the hydraulic system and the dynamic response of the payload system was analyzed.The control strategy of the hydraulic motors of the anti-swing device was proposed.Then,a co-simulation scheme was designed using MATLAB/Simulink and AMESim to reflect the dynamic characteristics of the hydraulic anti-swing device.The swing characteristics of the payload,the tension output characteristics of the anti-swing ropes and the pressure characteristics of the hydraulic motors under the excitation of the ship motion were studied.Finally,using the experimental platform of hydraulic anti-swing device,the hardware experiment was carried out,and the experimental and simulation results were compared and analyzed,which verified the correctness of the mathematical model of anti-swing device and the effectiveness of the joint simulation results.The research results show that the hydraulic driven anti-swing device can limit the swing angle of the payload to less than 3°,and the swing amplitude suppression effect of the payload reaches 77.6%.The effectiveness of the hydraulic driven scheme and hydraulic motor control strategy of the ropes traction anti-swing device are verified,and the accuracy of the mathematical model and simulation analysis is verified.The research results can provide a basis for the controller design of the hydraulic driven ropes anti-swing device.And the research results can provide a theoretical and experimental basis for the further engineering application of the hydraulic driven anti-swing device.
hoisting machineryswing of the hoisting systemhydraulic drive anti-swing devicedynamic characteristicsSimulink-AMESim joint simulationswing angle of lifting load
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