Marine crane controller based on an input shaping technology

A marine crane, input shaping technology, applied in the direction of transportation and packaging, load hanging components, etc., can solve the problems of reducing production efficiency, increasing work costs, etc., to achieve the effect of improving work efficiency, easy to implement, and simple methods

Inactive Publication Date: 2015-06-03
哈尔滨功成科技创业投资有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the mechanical anti-swing, the operator needs to slow down or add reverse damping to reduce or even suppress the swing of the load, which will not only increase the working cost, but also reduce the production efficiency

Method used

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  • Marine crane controller based on an input shaping technology
  • Marine crane controller based on an input shaping technology
  • Marine crane controller based on an input shaping technology

Examples

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Embodiment Construction

[0022] combine figure 1 In the physical model of a marine crane, the residual swing of the load can be expressed as the swing angle θ in the plane of the boom 1 and the swing angle θ out of the plane of the boom 2 . Let the mass of the load be m and the length of the boom be L B , the length of the rope is L, the included angle between the boom plane and the horizontal axis of the marine crane (i.e. the X axis) is the rotation angle α, and the included angle between the boom plane and the vertical axis of the marine crane (i.e. the Z axis) is the pitch angle β, then The position of the boom tip in the inertial coordinate system is

[0023] x bt = L B cos α sin β ...

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Abstract

The invention provides a marine crane controller based on an input shaping technology. The marine crane controller based on the input shaping technology is characterized in that firstly, a marine crane mathematic model based on Lagrange dynamical equations is analyzed and resolved, then according to an error of practical system modelling, a zero vibration and derivative (ZVD) input shaper is used for controlling a marine crane; and finally, simulation verification is carried out on the designed marine crane by utilizing the ZVD input shaper.

Description

technical field [0001] The invention relates to a marine crane controller, in particular to a marine crane controller applying input shaping technology. Background technique [0002] A marine crane is a type of slewing crane. In the marine environment, the marine crane is a special mechanical tool for lifting operations. After lifting the load, it moves to the deck of the target ship to lay down the load. Whether it is military or civilian, marine cranes play a very important role in marine engineering. important role. However, because the sling of the marine crane is a flexible steel wire rope, the marine crane will swing when lifting the cargo. In order to eliminate the residual swing of the load and improve the working efficiency of the marine crane, most of the marine cranes are equipped with anti-swing devices. Anti-swing devices are mainly divided into two categories in form: mechanical anti-swing devices and electronic anti-swing devices. In the mechanical anti-sw...

Claims

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Application Information

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IPC IPC(8): B66C13/18
CPCB66C13/18
Inventor 李冠一
Owner 哈尔滨功成科技创业投资有限公司
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