Kinematic Simulation of Telescopic Sleeve Anti-Swing Device Based on Ship Swing

Abstract

In order to reduce the impacts of wave on ship-mounted crane during operating the crane under rough weather conditions. A new type of shipboard crane telescopic sleeve anti-swing device was proposed. It uses the rigid constraints of the sleeve to reduce the swing range of the load, and through the universal torque damping mechanism to reduce stress on the telescopic sleeve. The form and principle telescopic sleeve device was introduced. A mathematical model of the ship and crane is established. Establish the simulation model by Adams, the load swing angle with having telescopic sleeve and without telescopic sleeve were achieved respectively under ship swing. At the end, the swing angle of these two models were analyzed according to the simulation results. Verify the telescopic sleeve device has a significant effect on anti-swing. IntroductionWhen the ship is working at sea, the ship will produce rolling, pitching, yawing, swaying, surging, heaving motion in six degrees of freedom, due to the influence of wind, wave and drift. It is impossible to carry out the job when the sea conditions are badly. The anti-swing technology of the crane has a broad application prospect in the offshore hoisting operation.On the issue of anti-swing of crane, the main research includes mechanical and intelligent anti-swing method. Maryland Rigging System [1] established the linear dynamic model of ship crane by Lagrange method. Yuewei Li [2] compared commonly used anti-swing mechanism. PARKER and others [3] used the Rider Block Tagline System to control the pendulation of the load. Its structure and control are simple compared with the Maryland Rigging System. But when the rope length is longer, its function is restricted. JANG and others [4] established the dynamic model of container ship crane, and used T-S fuzzy control method to control the swing of load. Ismail and others [5] established the three degree of freedom model of marine rotary boom crane, and used two order sliding model to control to realize the tracking and anti-swing. Pengcheng Wang and others [6] make dynamic analysis and established the model of marine rotary boom crane. Yongchun Fang and others [7] designed nonlinear controller depend on the Pengcheng Wang's model and simulation tested.Combined with the present situation and the actual situation of the vessel. This paper presents a kind of telescopic sleeve anti-swing device. Established the kinematic model of ship and crane. According to the model, analyzed the influence of the ship motion on the crane and the stress of the telescopic sleeve device. And used the Adams to do simulation experiment. Verify the telescopic sleeve device has a good effect of anti-swing. Principle of anti-swingThe telescopic sleeve device is composed of a universal torque structure and a telescopic sleeve. Telescopic sleeve device is shown in Fig.1. The anti-swing principle of telescopic sleeve device is shown in Fig.2. When Crane boom hoisting and luffing by the adjustment of the hydraulic oil cylinder. The sleeve is always in a vert...