Equilibrium path and load trajectory deflections for polar cranes in nuclear power plant

Abstract

A quasi-static method to analyze equilibrium path and trajectory deflections for the load of polar crane in nuclear power plant is presented based on three-dimensional analyses. The governing equations of equilibrium path and the compatibility conditions of the rope-pulley system are provided in the method; properties and formulations of the variables involved in these equations are studied in detail. A method to describe general rope-pulley system is given, and a numerical method is derived to solve the common tangent between spatial pulleys, which was conforming to the rope reeving. Moreover, the rope lengths wound by the drum and left in the system are computed, and the transitive relation for rope velocities between two sides of the pulley is derived. Two numerical examples prove that the proposed method is reasonable and valid, and to a large extent, the method is universal and can be applied to general rope-pulley systems.

Precise Locating Control for a Polar Crane Based on Sliding Mode Active Disturbance Rejection Control and Quadratic Programming Algorithm

“…Literature [1] took the physical structure of the rope-sheave system of the polar crane into account and proposed a systematic method for analyzing the dynamics of the system based on the virtual power principle. Literature [2] presented a quasi-static method to analyze the equilibrium path and trajectory deflections for the load of the polar crane, which is of great significance for improving the structural layout of the lifting system. Literature [3] proposed a static balanced approach to analyzing the straightness deviation of the hook block during the lifting process.…”