Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

被引：12

作者：

Wang, Shenghai ^{[1
,2
]}

Ren, Zhaopeng ^{[1
]}

Jin, Guoliang ^{[1
]}

Chen, Haiquan ^{[1
,2
]}

机构：

[1] Dalian Maritime Univ, Coll Marine Engn, Dalian 116026, Peoples R China

[2] Dalian Maritime Univ, Natl Ctr Int Res Subsea Engn Technol & Equipment, Dalian 116026, Peoples R China

来源：

IEEE ACCESS | 2021年 / 9卷

基金：

中国国家自然科学基金;

关键词：

Cranes; Payloads; Mathematical model; Analytical models; Marine vehicles; Dynamics; DC motors; Offshore cranes; anti-swing system; payload swing suppression; dynamics; TELESCOPIC ROTARY CRANE; FEEDFORWARD CONTROL LAW; BOND GRAPH METHOD; BRIDGE CRANES; OVERHEAD CRANE; FLEXIBLE CABLE; DYNAMICS; SYSTEM; STABILIZATION; SIMULATION;

D O I：

10.1109/ACCESS.2021.3063792

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Crane operations might be very dangerous in rough sea conditions due to unexpected payload swing induced by ship excitations. In this paper, a novel Cable-Driven Inverted Tetrahedron Mechanism (CDITM) is presented to suppress the payload swing for sake of the workers' safety. The CDITM retrofitting on an offshore crane is simplified as a constrained pendulum with a moving base, and its equations of motion are obtained by Newton Euler Method. Next, three-dimensional dynamic analysis is performed using Matlab/Simulink, and the influence law of ship excitations, tagline tension, crane pose and CDITM configuration on the payload swing are investigated. Finally, through comparative experimental verification, it is found that the simulation tendencies of in-plane swing follows the experiment curves quite well, and the variations between the simulation and experiment results are acceptable. Thus the dynamic modeling and analysis of CDITM are verified. The theoretical and experimental results are fundamental and valuable for the engineering application of CDITM in the offshore industries.

引用

页码：86132 / 86143

页数：12

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