Study of anti-swing control of ship cranes based on time delay feedback
2 tons 3 meters ship crane as the research object, establish the complete mathematical model of ship crane, and design the time-delay feedback control algorithm to eliminate payload swing on the basis of the built mathematical model. First, a high-precision potentiometer is used to measure the in-pl...
Main Authors: | , , |
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Format: | Article |
Language: | English |
Published: |
JVE International
2021-03-01
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Series: | Journal of Vibroengineering |
Subjects: | |
Online Access: | https://www.jvejournals.com/article/21697 |
Summary: | 2 tons 3 meters ship crane as the research object, establish the complete mathematical model of ship crane, and design the time-delay feedback control algorithm to eliminate payload swing on the basis of the built mathematical model. First, a high-precision potentiometer is used to measure the in-plane and out-of-plane oscillation of the payload. Measuring devices for the rotary angle and variation amplitude angle are created, and the anti-swing control hardware system is built by the sensing unit and the High-Speed Data Acquisition hardware system. Secondly, the control software on the VB platform is developed using the time-delay feedback algorithm. Experimentally study the effect of time-delayed feedback controller on payload swing elimination, and use induction method to get the optimal control parameters of the time-delayed feedback control algorithm. At last, the AMEsim-ADAMS co-simulation platform was built to evaluate the payload sway of the ship crane under simulated working conditions. The results show that: the hardware and software systems for anti-swing control built-in the paper can give the real-time and the exact payload swing angles. The method of adding time-delay feedback control signal to the slewing operation signal can achieve better anti-swing effects than the others. At the same time, the delayed feedback control algorithm still has a nice control effect in the case of virtual ship deck motion. |
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ISSN: | 1392-8716 2538-8460 |