JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2017, Vol. 47 ›› Issue (1): 112-118.doi: 10.6040/j.issn.1672-3961.0.2016.326

Previous Articles     Next Articles

Payload pendulation dynamic analysis of ship-mounted crane

HAN Guangdong, ZHANG Tong, CHEN Haiquan, WANG Shenghai, ZHANG Jinnan   

  1. College of Marine Engineering, Dalian Maritime University, Dalian 116026, Liaoning, China
  • Received:2016-08-18 Online:2017-02-20 Published:2016-08-18

Abstract: The pendulation of payload was caused by the motion of ship which induced by wave. The motion equation was obtained by means of the relative position of the payload, The kinematics model of ship-mounted crane payload system was established using Lagrange equation, the dynamic was carried out in Matlab/Simulink simulation environment, the influence of rope length, excitation frequency and lifting speed on payload pendulation was analyzed in a comparative manner. The simulation results showed that the payload swing angle increased first and then decreased with the increasing of the rope length; meanwhile, the swing angle increased with the excitation frequency approaching the natural frequency of the system; finally, the swing angle tended to increase with the increasing of the lifting speed, however, the swing angle decreased with the increasing of the lowering speed. Experiment was carried out, and the accuracy of the simulation results was verified.

Key words: ship-mounted crane, payload system, pendulation, kinematics model, Matlab/Simulink software

CLC Number: 

  • U664.4+3
[1] 王学林,尤心一,胡于进. 规则波作用下起重船吊重的动力学分析[J].中国机械工程,2010,9:1077-1082. WANG Xuelin, YOU Xinyi, HU Yujin. Cargo pendulation analysis of moored crane ship under regular waves[J]. China Mechanical Engineering, 2010, 9:1077-1082.
[2] HENRY R J, MASOUD Z N, NAYFEH A H, et al. Cargo pendulation reduction of ship-mounted cranes via boom-luff angle actuation[J]. Journal of Vibration and Control, 2001, 7(8):1253-1264.
[3] CHIN C, NAYFEH A H, ABDEL-RAHMAN E. Nonlinear dynamics of a boom crane[J]. Journal of Vibration and Control, 2001, 7(2):199-220.
[4] CHIN C M, NAYFEH A H. Dynamics and control of ship-mounted cranes[J]. Journal of Vibration and Control, 2001, 7(6):891-904.
[5] ELLERMANN K, KREUZER E, MARKIEWICZ M. Nonlinear dynamics in the motion of a floating cranes[J]. Multibody System Dynamics, 2003, 9(4):377-387.
[6] PARK K P, CHA J R, LEE K Y, et al. Modeling of multi-boom floating crane for lifting analysis of offshore wind turbine[J]. Transactions of the Korean Society of Mechanical Engineers A, 2011, 35:115-120.
[7] MILES J W. Stability of force oscillations of a spherical pendulum[J]. Journal of the Acoustical Society of America, 1962, 20(1):21-32.
[8] MILES J W. Resonant motion of a spherical pendulum[J]. Physica D Nonlinear Phenomena, 1984, 11(3):309-323.
[9] PATEL M, BROWN D, WITZ J A. Operability analysis for a manual crane vessel[J]. Transaction of the Royal Institute of Naval Architects, 1987, 129:103-113.
[10] MCCORMICK F J, WITZ J A. An investigation into the parametric excitation of suspended loads during crane vessel operations[J]. Underwater Technology, 1993, 19:30-39.
[11] WITZ J A. Parametric excitation of crane loads in moderate sea states[J]. Ocean Engineering, 1995, 22(4):411-420.
[12] SCHELLIN T E, JIANG T, SHARMA S D. Crane ship response to wave groups[J]. Journal of Offshore Mechanics and Arctic Engineering, 1991, 113(3):211-218.
[13] ELLERMANN K, KREUZER E. Moored crane vessels in regular waves[J]. Solid Mechanics and its Applications, 2000, 77:105-113.
[14] MALEKI EA. Dynamics and control of a small-scale boom crane[J]. Journal of Computational and Nonlinear Dynamics, 2011, 6(3):921-928.
[15] POSIADALA B, SKALMIERSKI B, TOMSKI L. Motion of the lifted load brought by a kinematic forcing of the crane telescopic boom[J]. Mechanism and Machine Theory, 1990, 25(5):547-556.
[16] REN Huili, WANG Xuelin, HU Yujin, et al. Dynamic response analysis of a moored crane-ship with a flexible boom[J]. Journal of Zhejiang University Science A, 2008, 9(1):26-31.
[17] 李震震. 船用起重机吊物波浪补偿控制研究[D]. 大连:大连理工大学, 2014. LI Zhenzhen. Research on wave compensation of marine crane hanging object[D]. Dalian:Dalian University of Technology, 2014.
[18] 刘伟. 起重船吊物动力响应及主动控制研究[D]. 大连:大连理工大学, 2013. LIU Wei. Research on dynamic response and active control of the floating crane hanging object[D]. Dalian:Dalian University of Technology, 2013.
[1] Zhaopeng REN, Rui XI, Shenghai WANG, Zhijiang ZHANG, Haiquan CHEN. Design of triple-cables limiting-location anti-swing device for shipboard crane [J]. Journal of Shandong University(Engineering Science), 2020, 50(3): 125-132.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
[1] WANG Su-yu,<\sup>,AI Xing<\sup>,ZHAO Jun<\sup>,LI Zuo-li<\sup>,LIU Zeng-wen<\sup> . Milling force prediction model for highspeed end milling 3Cr2Mo steel[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 1 -5 .
[2] LI Kan . Empolder and implement of the embedded weld control system[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(4): 37 -41 .
[3] KONG Xiang-zhen,LIU Yan-jun,WANG Yong,ZHAO Xiu-hua . Compensation and simulation for the deadband of the pneumatic proportional valve[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 99 -102 .
[4] CHEN Rui, LI Hongwei, TIAN Jing. The relationship between the number of magnetic poles and the bearing capacity of radial magnetic bearing[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 81 -85 .
[5] LI Ke,LIU Chang-chun,LI Tong-lei . Medical registration approach using improved maximization of mutual information[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 107 -110 .
[6] JI Tao,GAO Xu/sup>,SUN Tong-jing,XUE Yong-duan/sup>,XU Bing-yin/sup> . Characteristic analysis of fault generated traveling waves in 10 Kv automatic blocking and continuous power transmission lines[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 111 -116 .
[7] . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 27 -32 .
[8] ZHANG Ying,LANG Yongmei,ZHAO Yuxiao,ZHANG Jianda,QIAO Peng,LI Shanping . Research on technique of aerobic granular sludge cultivationby seeding EGSB anaerobic granular sludge[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(4): 56 -59 .
[9] WANG Li-ju,HUANG Qi-cheng,WANG Zhao-xu . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(6): 51 -56 .
[10] SUN Dianzhu, ZHU Changzhi, LI Yanrui. [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 84 -86 .