DOI: https://doi.org/10.15587/1729-4061.2018.132473

Numerical simulation of the dynamics of the system "trolley – load – carrying rope" in a cable crane

Otto Grigorov, Evgenij Druzhynin, Vsevolod Strizhak, Marjana Strizhak, Galina Anishchenko

Abstract


We report results of research into patterns in the progress of dynamic processes and into emergence of dynamic loads when a trolley of the cable crane moves with a suspended load. These patterns could be subsequently taken into consideration when calculating actual cranes, in order to improve their reliability and durability, to avoid unfavorable events during motion of a freight trolley, as well as to define parameters of cranes of the new design. The dynamics of a cable crane is considered from the point of view of the interaction between elements of the system "trolley-load-carrying rope". We have improved a mathematical model for the system "trolley-load-carrying rope" by introducing three damping coefficients, each of which characterizes energy dissipation under different physical processes ‒ the motion of a trolley, a load, and the speed of a wind load. Numerical simulation was performed using the software package KiDyM, which at the analytical level allows the construction of motion equations for the systems that are described by a combination of ordinary differential equations. We established patterns of change in the normal and tangential inertial forces occurring during motion of the trolley along a curvilinear trajectory. Their character and magnitude were quantified. We determined dynamic characteristics of the system, taking into consideration the influence of the masses of a swinging load, a trolley, and the curvature of a rope. Emergency mode that occurs at a break of the traction rope was investigated, as well as the influence of wind load on the swinging of the load. We defined causes for the emergence of the reverse speed for a freight trolley, and the ways for its elimination. The influence of wind load on the angle of load deviation from the vertical was examined.


Keywords


cable crane; crane trolley; carrying rope; crane dynamics; numerical simulation

References


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Jaafar, H. I., Ali, N. M., Mohamed, Z., Selamat, N. A., Abidin, A. F. Z., Jamian, J. J., Kassim, A. M. (2013). Optimal Performance of a Nonlinear Gantry Crane System via Priority-based Fitness Scheme in Binary PSO Algorithm. IOP Conference Series: Materials Science and Engineering, 53, 012011. doi: 10.1088/1757-899x/53/1/012011

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Arabasi, S., Masoud, Z. (2017). Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation. Shock and Vibration, 2017, 1–12. doi: 10.1155/2017/5703820

O’Connor, W., Habibi, H. (2013). Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts. Mechanical Sciences, 4 (2), 251–261. doi: 10.5194/ms-4-251-2013

Perig, A. V., Stadnik, A. N., Kostikov, A. A., Podlesny, S. V. (2017). Research into 2D Dynamics and Control of Small Oscillations of a Cross-Beam during Transportation by Two Overhead Cranes. Shock and Vibration, 2017, 1–21. doi: 10.1155/2017/9605657

Perig, A. V., Stadnik, A. N., Deriglazov, A. I. (2014). Spherical Pendulum Small Oscillations for Slewing Crane Motion. The Scientific World Journal, 2014, 1–10. doi: 10.1155/2014/451804

Lepekha, O. H. (2003). Imitatsiyne modeliuvannia roboty nesuchykh kanativ pidvisnykh system. Lisove hospodarstvo, lisova, paperova i derevoobrobna promyslovist, 28, 68–76.

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Martyntsiv, M. P. (2000). Dynamika kanatnykh lisotransportnykh ustanovok. Naukovyi visnyk NLTU Ukrainy, 10.2, 116–122.

Kozar, I., Malic, N. T. (2014). Analysis of body sliding along cable. Coupled Systems Mechanics, 3 (3), 291–304. doi: 10.12989/csm.2014.3.3.291

Okun, A. O., Stryzhak, V. V., Stryzhak, M. H., Hryhorov, O. V., Ziubanova, D. M., Tsebrenko, M. V. (2017). Pat. No. 121527 UA. Kabelnyi kran iz zminnoiu dovzhynoiu nesuchoho kanata. MPK (2017.01) B 66 C 21/00, B 66 C 19/00. No. a201705730; declareted: 09.06.2017; published: 11.12.2017, Bul. No. 23, 8.

Hryhorov, О., Okun, A. (2017). Improvement of the «carriage-cargo» system motion mathematical model for solving the problem of lifting and transport machines control. Avtomobil'niy transport, 40, 120–124.

Dukel'skiy, A. I. (1966). Podvesnye kanatnye dorogi i kabel'nye krany. Moscow: Mashinostroenie, 485.

Andreev, Yu. M., Druzhinin, E. I., Larin, A. A. (2004). Praktikum po teoreticheskoy i analiticheskoy mekhanike s primeneniem PEVM. Kharkiv: NTU «KhPI», 100.


GOST Style Citations


Hryhorov О., Svirgun V. Improving the productivity of utility cranes through optimum motion control // Soviet machine science. 1986.

Optimal Performance of a Nonlinear Gantry Crane System via Priority-based Fitness Scheme in Binary PSO Algorithm / Jaafar H. I., Ali N. M., Mohamed Z., Selamat N. A., Abidin A. F. Z., Jamian J. J., Kassim A. M. // IOP Conference Series: Materials Science and Engineering. 2013. Vol. 53. P. 012011. doi: 10.1088/1757-899x/53/1/012011 

Cakan A., Umit O. Position regulation and sway control of a nonlinear gantry crane system // International journal of scientific & technology research. 2016. Vol. 5, Issue 11. P. 121–124.

Arabasi S., Masoud Z. Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation // Shock and Vibration. 2017. Vol. 2017. P. 1–12. doi: 10.1155/2017/5703820 

O’Connor W., Habibi H. Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts // Mechanical Sciences. 2013. Vol. 4, Issue 2. P. 251–261. doi: 10.5194/ms-4-251-2013 

Research into 2D Dynamics and Control of Small Oscillations of a Cross-Beam during Transportation by Two Overhead Cranes / Perig A. V., Stadnik A. N., Kostikov A. A., Podlesny S. V. // Shock and Vibration. 2017. Vol. 2017. P. 1–21. doi: 10.1155/2017/9605657 

Perig A. V., Stadnik A. N., Deriglazov A. I. Spherical Pendulum Small Oscillations for Slewing Crane Motion // The Scientific World Journal. 2014. Vol. 2014. P. 1–10. doi: 10.1155/2014/451804 

Lepekha O. H. Imitatsiyne modeliuvannia roboty nesuchykh kanativ pidvisnykh system // Lisove hospodarstvo, lisova, paperova i derevoobrobna promyslovist. 2003. Issue 28. P. 68–76.

Tysovskyi L. O., Rudko I. M. Do vyznachennia rivniannia kryvoi prohynu kanata pidvisnoi transportnoi ustanovky // Naukovyi visnyk NLTU Ukrainy. 2005. Issue 15.1. P. 137–142.

Martyntsiv M. P. Dynamika kanatnykh lisotransportnykh ustanovok // Naukovyi visnyk NLTU Ukrainy. 2000. Issue 10.2. P. 116–122.

Kozar I., Malic N. T. Analysis of body sliding along cable // Coupled systems mechanics. 2014. Vol. 3, Issue 3. P. 291–304. doi: 10.12989/csm.2014.3.3.291 

Kabelnyi kran iz zminnoiu dovzhynoiu nesuchoho kanata: Pat. No. 121527 UA. MPK (2017.01) B 66 C 21/00, B 66 C 19/00 / Okun A. O., Stryzhak V. V., Stryzhak M. H., Hryhorov O. V., Ziubanova D. M., Tsebrenko M. V. No. a201705730; declareted: 09.06.2017; published: 11.12.2017, Bul. No. 23. 8 p.

Hryhorov О., Okun A. Improvement of the «carriage-cargo» system motion mathematical model for solving the problem of lifting and transport machines control // Avtomobil'niy transport. 2017. Issue 40. P. 120–124.

Dukel'skiy A. I. Podvesnye kanatnye dorogi i kabel'nye krany. Moscow: Mashinostroenie, 1966. 485 p.

Andreev Yu. M., Druzhinin E. I., Larin A. A. Praktikum po teoreticheskoy i analiticheskoy mekhanike s primeneniem PEVM: ucheb. pos. Kharkiv: NTU «KhPI», 2004. 100 p.







Copyright (c) 2018 Otto Grigorov, Evgenij Druzhynin, Vsevolod Strizhak, Marjana Strizhak, Galina Anishchenko

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ISSN (print) 1729-3774, ISSN (on-line) 1729-4061