Dynamic Characteristic of Anti-swing Hook on Quad-rotor of Marine Crane
[Objective]Design an anti-swing device for marine cranes and explore its anti-swing mechanism to solve the swing problem during the lifting process of marine cranes.[Method]Innovative design of anti-swing hook of quad-rotor of marine crane,a dynamic model of the anti-swing hook of quad-rotor was established,and allowed for the influence of wind load.The adaptive fuzzy PID(proportional integral derivative)control strategy was applied to the anti-swing quad-rotor hook controller.According to the swing angle deviation,the corresponding motor rotation was controlled to generate thrust to reduce the payload swing,and the swing angle was controlled online and in real time.Finally,the anti-swing characteristics and motion laws were explored through dynamic simulation analysis and experimental verification.[Result]When the ship is excited,the in-plane and out-plane swing angles of the payload are reduced by 66.8%and 69.7%,respectively.The weight swing projection decreases by an average of 62.5%at the maximum offset in the x and y axes.The response speed of the anti-swing hook under the adaptive fuzzy PID control strategy is increased by 25.0%compared to PID control,and the steady-state performance is improved by 13.0%.Through comparative analysis of experiments and simulations,the trend of the hanging load swing angle curve is basically consistent,and the hanging load tends to be stabilized after 16 seconds.The accuracy of the dynamic model of anti-swing quad-rotor hook was verified.[Conclusion]The anti-swing quad-rotor hook can effectively suppress the swing of the payload,providing a new feasible anti-swing scheme for the light load anti-swing marine cranes.
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