Dynamic modelling and control strategy for the four anti-swing cables system of an&nbsp; offshore crane

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Journal of Vibration and Shock ›› 2024, Vol. 43 ›› Issue (22) : 162-173.

Dynamic modelling and control strategy for the four anti-swing cables system of an offshore crane

HUANG Zhe1,2,REN Zhaopeng1,2,ZHAO Tingqi1,2,WANG Shenghai*1,2,CHEN Haiquan1,2,SUN Yuqing1,2

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Abstract

Due to the continuous influence of waves, currents, and winds, achieving accurate and fast lifting is difficult because of the large payload swing during the lifting operation. Therefore, this study proposes a Four Anti-swing Cable System (FASCS) for Offshore cranes and designs a tension control method(TCM) to suppress the swing of the payload by setting the tension constraints of four flexible anti-swing cables. Concurrently, in order to achieve coordinated motion between anti-swing cables, an adaptive synovial controller with improved reaching law (ASC-IRL) is designed to control the changes of the length and speed of the anti-swing cables, which is used to prevent the occurrence of snap. The control effect is simulated and analyzed with Matlab/Simulink. The analysis shows that the swing angle suppression effect reaches 80.1% on average, and the projected area of the payload trajectory was reduced by 61%. In addition, both the length and speed of cables in errors can approach 0 within 8s. The maximum error of the anti-swing cables under ASC-IRL control is reduced by more than 75% compared with Fuzzy-PID, and the chattering phenomenon is reducing, which verifies the strong robustness of the cooperative motion of the anti-swing cables under ASC-IRL control. The research results are of great significance to further explore the anti-swing mechanism of the FASCS and the cooperative control of the anti-swing cables.

Key words

Offshore crane / Four Anti-swing Cable System (FASCS) / anti-swing / cooperative motion / dynamic analysis

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HUANG Zhe1, 2, REN Zhaopeng1, 2, ZHAO Tingqi1, 2, WANG Shenghai1, 2, CHEN Haiquan1, 2, SUN Yuqing1, 2. Dynamic modelling and control strategy for the four anti-swing cables system of an offshore crane[J]. Journal of Vibration and Shock, 2024, 43(22): 162-173

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