Dynamic Analysis and Experiment of Underactuated Double-Pendulum Anti-Swing Device for Ship-Mounted Jib Cranes

Wang, Jianli; Liu, Kexin; Wang, Shenghai; Chen, Haiquan; Sun, Yuqing; Niu, Anqi; Li, Haolin

doi:10.2478/pomr-2022-0052

Cited by 4 publications

(3 citation statements)

References 16 publications

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“…Wang, J.L. [18] addressed the anti-swing problem of ship-mounted jib cranes by proposing a parallel anti-swing method with three degrees of freedom for main and auxiliary transmission lines to reduce swing. Sun [19] utilized an LQR controller built on the enhanced grey wolf algorithm to reduce the swing of a ship-mounted crane and improve response speed.…”

Section: Introductionmentioning

confidence: 99%

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Yang,

Yan,

Zhang

et al. 2023

Actuators

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This paper presents an anti-swing control method to prevent situations where inspection robots detach and fall off transmission lines during obstacle crossing due to excessive swing angles caused by the rotation of the robot around the transmission line. Firstly, an obstacle-crossing model for the inspection robot was constructed and the causes of robot swinging phenomena were analyzed, in addition to their impact on obstacle crossing stability. By combining this with the obstacle-crossing model, a moment balance equation was established for the inspection robot. This equation can be used to solve mapping relationships between body offset and the tilt angle of transmission line gripping arms. We propose an anti-swing control strategy by adjusting the angle of the transmission line gripping arm’s pitching joint to make the body offset approach zero, and by utilizing the advantages of fuzzy logic in the fuzzy PID algorithm compared with the traditional PID algorithm, it can adaptively avoid the occurrence of robot swinging phenomena. The experimental results of obstacle-crossing experiments under no wind and wind turbulence conditions indicated that the proposed anti-swing control method in this study can effectively keep the body offset to within 3 mm. Compared with the methods of not using anti-swing control and using traditional PID anti-swing control, in the absence of wind effects, the peak values of body offset were reduced by 96.53% and 18.85%, respectively. Under the influence of wind turbulence, the peak values of body offset were reduced by 97.02% and 27.12%, respectively. The effectiveness of the anti-swing control method proposed in this paper has thus been verified.

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Section: Introductionmentioning

confidence: 99%

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Yang,

Yan,

Zhang

et al. 2023

Actuators

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“…Several derivatives included in expressions(9).. (15). were found:ÿ = ü cosν -u̇ ν̇ sinν -ν̈ usinν -u̇ ν̇ sinν -ν̇ 2 ucosν = ü cosν --2u̇ ν̇ ṡinν -ν̇ 2 ucosν -ν̈ usinν.…”

mentioning

confidence: 98%

Dynamic analysis of the joint movement of the hoisting and slewing mechanisms of a boom crane

Loveikin,

Romasevych,

Kadykalo

2023

Tehnìka ta energetika

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To increase the productivity of boom cranes, the operation of individual mechanisms is combined. At the same time, dynamic loads on structural elements, drive mechanisms and loads on a flexible suspension increase, which reduces the reliability of crane operation and increases energy losses. Therefore, the research aims to consider the problem of the dynamics of the joint movement of the mechanisms for load slewing and hoisting of a boom crane. To study the dynamics of the joint movement of the mechanisms, the boom system was represented by a mechanical system with 6DOF, where the basic movement of the mechanisms and the oscillatory movement of the structural links with elastic and dissipative properties, as well as the load on a flexible suspension in the plane of crane slewing and hoisting were considered. For such a mechanical system of a crane, the differential equations of the joint motion of the crane slewing and hoisting mechanisms were developed. The obtained equations are a system of the second order nonlinear differential equations, for solving which a numerical method in the form of a computer program was used. Using the developed program, the dynamics of the joint movement of the mechanisms of a jib crane with specific numerical parameters were calculated. Based on the calculations, a dynamic analysis of the joint movement of the mechanisms for slewing and hoisting the load of a jib crane with a hoisting boom was carried out, which revealed high-frequency vibrations of links with elastic and dissipative properties, as well as low-frequency oscillations of the load on a flexible suspension. The greatest impact of oscillations is observed during the start-up of mechanisms, where high-frequency oscillations dampen during the transient process, and low-frequency oscillations dampen over a fairly significant period. To improve the dynamic properties of the mechanisms for turning and hoisting a load during their joint movement, it is proposed to optimise the mode of movement in the areas of transient processes (start-up, braking). The research results can be used in the development and operation of cranes in mechanical engineering, construction, and other industries

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“…The problem of under-actuation and anti-swing technology for the crane has been studied, and some research directions have been put forward for reference [14], [15]. The double pendulum problem and the dynamic relationship between the payload and the offshore crane have also been analysed [16], [17]. A method of motion compensation has been proposed to reduce the influence of vibration frequency on the control effect [18], and an original rigid-flexible coupling anti-swing mechanical arm was developed, which was composed of a parallel rigid antiswing mechanical arm and flexible anti-swing cables.…”

mentioning

confidence: 99%

Dynamic Modelling and Experimental Analysis of an Offshore Crane Payload Positioning System with a Parallel Cable-Driven Method

Ren,

Huang,

Zhao

et al. 2024

Polish Maritime Research

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The violent swinging motion of a payload imposes significant safety problems for the operation of offshore ship-mounted cranes (offshore cranes). We therefore propose a stable experimental hoisting platform for an offshore crane payload positioning system with a parallel cable-driven method (PP-PCDM), and an adaptive cable-drive anti-swing tension (ACAT) control method based on the PP-PCDM is developed to resolve the problem of swinging of the payload by limiting its spatial position. The PP-PCDM enables synchronous tracking of the movement of the payload when the crane is working. When the payload deviates from a stable state due to an external disturbance, the anti-swing cables are immediately retracted or released based on the feedback signal. The spatial position of the payload is then limited by adjusting the length and tension of the parallel cables until the payload appears stationary from the perspective of the ship’s deck. Operational safety and efficiency is substantially improved, and the proposed PP-PCDM structure and ACAT control method can be applied to a variety of different types of cranes. The results of simulations and physical experiments show that the anti-swing effect exceeds 89.86%. The PP-PCDM enables excellent performance of synchronous tracking and hoisting assistance, and ensures that the rated lifting weight of the offshore crane is not affected.

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Dynamic Analysis and Experiment of Underactuated Double-Pendulum Anti-Swing Device for Ship-Mounted Jib Cranes

Cited by 4 publications

References 16 publications

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Research on the Anti-Swing Control Methods of Dual-Arm Wheeled Inspection Robots for High-Voltage Transmission Lines

Dynamic analysis of the joint movement of the hoisting and slewing mechanisms of a boom crane

Dynamic Modelling and Experimental Analysis of an Offshore Crane Payload Positioning System with a Parallel Cable-Driven Method

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