Dynamics and Oscillation Control of Two-Dimensional Lifting and Liquid Filled Container System
Crane rope lifting of liquid filled containers is widely used in industry,but the coupled dynamics between container oscillation and liquid oscillation reduce the safety and effectiveness of transportation.When previous researchers studied the coupled dynamics of swinging and shaking,they modeled the container as a concentrated mass load and ignored the influence of hook mass on dynamics.Propose a novel dynamic model for a two-dimensional crane to lift a distributed mass liquid container system,considering the container as a rigid body and the hook mass.Based on dynamics,a novel composite controller consisting of a shaper MZVD and a smoother FP is proposed to suppress the oscillation of containers and liquids.The MZVD controller is an improvement on the ZVD controller to reduce the impact on the system.A series of simulations conducted on nonlinear models have demonstrated that the proposed control method can effectively suppress unexpected oscillations in the system and has strong robustness to changes in hook mass.
suspensioncable swingliquid sloshingdynamic modelingvibration control