Dynamic Modeling and Analysis of the Telescopic Sleeve Antiswing Device for Shipboard Cranes

Wang, Jianli; Wang, Shenghai; Chen, Haiquan; Niu, Anqi; Jin, Guoliang

doi:10.1155/2021/6685816

Cited by 3 publications

(3 citation statements)

References 36 publications

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“…However, the payload in-plane angle is reduced by 70% in the telescopic sleeve anti-swing scheme. 7 The anti-swing effect is obvious, which shows that the shipborne crane with the anti-swing device can suppress the external load disturbance and make the shipborne crane operation more stable and efficient.…”

Section: Experiments Validationmentioning

confidence: 99%

“…Wang et al 6 proposed a novel Cable-Driven Inverted Tetrahedron Mechanism to suppress the payload swing of shipborne crane. Wang et al 7 studied the dynamic characteristics of the telescopic sleeve anti-swing device of the marine crane under the coupling excitation. The simulation results show that the anti-swing device can effectively restrain the swing of the payload, but it lacks the experimental verification link, and this anti-swing device has an impact on the travel of the working range of the main sling.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic modeling and control of hydraulic driven payload anti-swing system for shipborne cranes

Jin

Sun

Cheng

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part M:

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Shipborne cranes are widely used in marine engineering and are employed in more diversified working scenes. However, due to the extensive swing range of ships, it is impossible to locate the payload accurately. A constant tension control method of payload anti-swing is proposed based on the principle of linear velocity feedback. This paper establishes a dynamic model of the payload anti-swing system driven by hydraulic motors. The characteristics of the payload swing and the cable tension are obtained through the dynamic simulation. The simulation and experimental results show that the constant tension control method significantly suppresses the shipborne crane’s payload swing, and the payload anti-swing effect reaches 73% and 85.6%. It is also found that the payload swings asymmetrically under external excitation. In addition, the effects of payload asymmetric swing on cable tension, payload swing angle, and the hydraulic pump output oil pressure are studied by a payload asymmetric swing experiment, and the results show that the proposed method also has a good suppression effect on the asymmetric payload swing.

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Section: Experiments Validationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic modeling and control of hydraulic driven payload anti-swing system for shipborne cranes

Jin

Sun

Cheng

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part M:

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show abstract

“…Typical examples of mechanical payload anti-swing methods are Maryland rigging [5], Rider Block Tagline System (RBTS), passive spring-damper system [6,7], and telescopic sleeve anti-swing device [8]. However, due to its structure configuration, Maryland rigging can only suppress the payload in-plane swing induced by ship's roll motions, it cannot cope with the payload out-plane swing induced by ship's pitch motions or crane's slew motions.…”

Section: Introductionmentioning

confidence: 99%

Active damping methods to suppress the payload swing by a 3‐degree of freedom cable‐driven parallel robot

Wang

Jin

et al. 2023

Asian Journal of Control

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Marine cranes play an important role in many hoisting scenes. However, due to the ship motion excitation and crane operation, the payload swing is unavoidable, hence putting the operators in danger. Thus, this paper proposes two active damping methods to suppress the payload swing by a 3‐DOF cable‐driven parallel robot (CDPR). First, the structure of the 3‐DOF CDPR is briefly introduced. Then, the dynamic model of the system is modeled as a constrained spherical pendulum with moving base excitations. Meanwhile, inspired by the air damping phenomenon, two active damping methods are presented to damp the payload swing naturally and smoothly. Furthermore, the payload swing under ship motion excitation and external hitting disturbances is analyzed, the influence mechanism of system damping parameters on the payload anti‐swing is discussed, and the robustness of the proposed damping methods is verified. By theoretical analysis and numerical simulations, some interesting discoveries are revealed: (1) the proposed damping methods can effectively suppress the big offset of payload swing angle inducing by external hitting disturbance, but the system might reach a dynamic equilibrium with a tilting hoist cable; (2) the phenomenon of “off‐center spherical pendulation” might be induced by improper setting of the damping parameters.

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Investigation of the spatial motion of a body with distributed mass connected by an inextensible cable to a moving trolley

Podliesnyi¹

2022

Visnyk TNTU

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The article considers the spatial motion of a mechanical system where a heavy beam of a given mass and dimensions is suspended at one end by a weightless inextensible cable to a trolley, which can move along horizontal guides without resistance. The system has five degrees of freedom. Based on the apparatus of analytical mechanics and Lagrange equations, a mathematical model of the considered mechanical system in the form of a system of five nonlinear differential equations of the second order is obtained. The mathematical model is implemented in the form of a computer program that allows you to determine the coordinates (positions) of the beam at any time, build the trajectory of the center of mass, determine the kinematic characteristics of the movement, calculate the cable tension and determine its extreme value. Based on the numerical experiment, graphs and phase trajectories of these parameters are constructed, including the 3D trajectory of the center of mass of the beam. The system can show quite complex dynamics depending on the initial conditions, as evidenced by the results of numerical calculations. Under certain conditions, chaotic behavior of the system is possible. Having a mathematical model and a calculation program, it is possible to conduct further studies of the system under consideration, revealing the positions of stable and unstable equilibrium, modes of self-oscillations, revealing areas of periodic and chaotic modes, bifurcations, and so on.

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Dynamic Modeling and Analysis of the Telescopic Sleeve Antiswing Device for Shipboard Cranes

Cited by 3 publications

References 36 publications

Dynamic modeling and control of hydraulic driven payload anti-swing system for shipborne cranes

Dynamic modeling and control of hydraulic driven payload anti-swing system for shipborne cranes

Active damping methods to suppress the payload swing by a 3‐degree of freedom cable‐driven parallel robot

Investigation of the spatial motion of a body with distributed mass connected by an inextensible cable to a moving trolley

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