船用起重机磁流变防摆装置动力学分析及实验验证

为了解决船用起重机在执行吊装转运作业时,货物出现摆动降低工作效率且极易造成安全事故的问题。将磁流变技术引入到船用起重机防摆领域,设计了一种机械式防摆装置。推导了船-起重机-吊点-防摆装置-吊重的三维动力学模型。对装置的防摆效果进行分析,结果表明,当输入给磁流变防摆装置恒定电流时,随着电流增大,防摆效果愈加明显,在设定工作背景下,当给定电流2A时,对面内角及面外角的抑制分别为75%、82%。为了优化控制策略,降低能耗,提高防摆的鲁棒性,设计了变论域模糊PID(VUFPID)控制器。采用VUFPID控制器时,防摆装置对吊重摆动的面内角及面外角的抑制分别为85%,83%,能耗约为113J；采用A组恒定电流时,防摆装置对吊重摆动的面内角及面外角的抑制分别为60%,68%,能耗约为140J；采用B组恒定电流时,防摆装置对吊重摆动的面内角及面外角的抑制分别为50%,58%,能耗约为110J。可见采用VUFPID后,能实现低能耗,效果明显的防摆作用。最后搭建实物样机,验证了磁流变防摆装置的有效性。

Dynamic analysis and experimental verification of magnetorheological anti-swing device for marine cranes

In order to solve the problem of cargo swinging during the lifting and transportation operation of marine cranes, which reduced work efficiency and easily causes safety accidents. Introduced magnetorheological technology into the field of anti-swing of marine cranes, a mechanical anti-swing device was designed. A three-dimensional dynamic model of ship-crane-lifting point-anti-swing device-lifting weight was derived. The analysis of the anti-swing effect of the device showed that when a constant current is input to the magnetorheological anti-swing device, the anti-swing effect become more obvious as the current increases. Under the set working background, when a current of 2A is given, the suppression of the in-plane and out-plane angles of the lifting weight is 75% and 82%, respectively. In order to optimize the control strategy, reduce energy consumption, and improve the robustness of anti-swing, a variable universe fuzzy PID (VUFPID) controller was designed. When using the VUFPID controller, the anti-swing device suppresses the in-plane and out-plane angles of the lifting weight by 85% and 83%, respectively, with an energy consumption of approximately 113J; When using group A constant current, the anti-swing device suppresses the in-plane and out-plane angles of the lifting weight by 60% and 68%, respectively, and the energy consumption is about 140J; When using group B constant current, the anti-swing device suppresses the in-plane and out-plane angles of the lifting weight by 50% and 58%, respectively, and the energy consumption is about 110J. It can be seen that using VUFPID can achieve low energy consumption and significant anti swing effect. Finally, a physical prototype was built to verify the effectiveness of the magnetorheological anti swing device.