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Swing Reduction Control of Ship Crane Based on Rope Length Change

  • Research Article-Systems Engineering
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Abstract

The traditional anti-swing control algorithm does not consider the coupling between the change of rope length and the swing angle when solving the swing problem of the work boat. As a result, the swing amplitude of the work boat is increased. Aiming at the above problems, a trajectory tracking strategy of PD control considering rope changes is proposed. Firstly, a nonlinear system model with rope change rate is constructed to describe the transient response characteristics of the external disturbance torque and control stability torque of the marine crane. Then, the model is constrained linearly according to the underdrive characteristics of ship crane. The simulation results show that the average swing amplitude of the working boat is reduced by 63.05% and that of the reverse one by 62.03%.

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Acknowledgements

This research was funded by the National Science Foundation for Young Scientists of China (62103120, 51909049), the National Science Foundation for Heilongjiang Province (LH2020E094, LH2021F033), Heilongjiang Postdoctoral Grant (LBH-Z22195, LBH-Z22197), University Nursing Program for Young Scholars with Creative Talents in Heilongjiang Province (UNPYSCT-2020190) and Heilongjiang Provincial Technological Innovation Center of Efficient Molding of Composite Materials and Intelligent Equipment (HPTIC202204).

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Authors and Affiliations

  1. School of Automation, Harbin University of Science and Technology, No.52 Xuefu Road, Nangang District, Harbin City, 150080, Heilongjiang Province, China

    Mingxiao Sun, Tiantian Luan, Zhenggang Tan & Wanpeng Wang

  2. Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration, Harbin University of Science and Technology, No.52 Xuefu Road, Nangang District, Harbin City, 150080, Heilongjiang Province, China

    Mingxiao Sun & Tiantian Luan

  3. Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, No.52 Xuefu Road, Nangang District, Harbin City, 150080, Heilongjiang Province, China

    Mingxiao Sun & Tiantian Luan

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  1. Mingxiao Sun
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Contributions

Author contributions: SMX is the principal researcher of this study, LTT, WW.P. and TZG conduct the interpretation of the data, simulation, data analysis, writing the manuscript as well as language editing.

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Correspondence to Tiantian Luan.

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Sun, M., Luan, T., Tan, Z. et al. Swing Reduction Control of Ship Crane Based on Rope Length Change. Arab J Sci Eng 48, 15597–15608 (2023). https://doi.org/10.1007/s13369-023-07790-0

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  • DOI: https://doi.org/10.1007/s13369-023-07790-0

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