广东海洋大学学报2024，Vol.44Issue(4)：129-138,10.DOI:10.3969/j.issn.1673-9159.2024.04.016
船用起重机四旋翼减摇吊钩动力学特性
Dynamic Characteristic of Anti-swing Hook on Quad-rotor of Marine Crane
摘要
Abstract
[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.关键词
船用起重机/四旋翼减摇吊钩/自适应模糊PID/动力学分析Key words
marine crane/anti-swing quad-rotor hook/adaptive fuzzy-PID/dynamics analysis分类
信息技术与安全科学引用本文复制引用
方楠,黄哲,赵庭祺,王生海,陈海泉,韩广冬,孙玉清..船用起重机四旋翼减摇吊钩动力学特性[J].广东海洋大学学报,2024,44(4):129-138,10.基金项目
国家重点研发计划(2022YFB4300802) （2022YFB4300802）
国家自然科学基金(52101396) （52101396）
