Anti-sway control method with dynamic correction of the suspension length for ship-to-shore cranes
DOI:
https://doi.org/10.15587/1729-4061.2015.43405Keywords:
anti-sway, movement mechanism observer with pull-up ropes, suspension length correctionAbstract
The analysis of the ship-to-shore crane behavior during the horizontal load movement in two coordinates and a simultaneous load lowering or hoisting was performed. For this operation mode, anti-sway control method for the load, suspended by a rope, which is invariant to the ratio of the masses and hoisting speed was proposed. The analysis of the interaction of technological mechanisms with the pull-up rope drives, suppressing load vibrations, caused by disturbance and measurement errors of the load parameters was carried out. By including the movement mechanism observer with the pull-up rope drives and the correction unit of the rope length and lowering/hoisting speed in the control system, a control method that is insensitive to the suspension length measurement errors without using load position sensors was proposed. As a result, a combined method of coordinated drive control to effectively suppress load vibrations during starting/braking of horizontal movement mechanisms, when using which there are no vibrations in steady-state conditions was developed. This allows to position the load at given points and as a result - include the crane in the automated container terminals.References
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Copyright (c) 2015 Виктор Владимирович Бушер, Николай Иосифович Муха, Анатолий Иванович Шестака
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