Dynamic Analysis and Experimental Verification of Magnetorheological Anti-swing Device for Marine Cranes
In order to solve the problem of cargo swinging during the lifting and transportation operation of marine cranes,which reduced work efficiency and easily causes safety accidents.A mechanical anti sway device was designed by introducing magnetorheological technology into the field of anti-swing for marine cranes.A three-dimensional dynamic model of ship-crane-lifting point-anti-swing device-lifting weight was derived.The analysis of the anti-swing effect of the device shows that when a constant current is input to the magnetorheological anti-swing device,the anti-swing effect becomes more obvious as the current increases.Under the set working background,when a current of 2 A is given,the suppression of the in-plane and out-plane angles of the lifting weight is 75％and 82％,respectively.In order to optimize the control strategy,reduce energy consumption,and improve the robustness of anti-swing,a variable universe fuzzy PID(VUFPID)controller was designed.When using the VUFPID controller,the anti-swing device suppresses the in-plane and out-plane angles of the lifting weight by 85％and 83％,respectively,with an energy consumption of approximately 113 J.When using group A constant current,the anti-swing device suppresses the in-plane and out-plane angles of the lifting weight by 60％and 68％,respectively,and the energy consumption is about 140 J.When using group B constant current,the anti-swing device suppresses the in-plane and out-plane angles of the lifting weight by 50％and 58％,respectively,and the energy consumption is about 110 J.It can be seen that using VUFPID can achieve low energy consumption and significant anti swing effect.Finally,a physical prototype was built to verify the effectiveness of the magnetorheological anti swing device.
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