Modeling and analysis of magnetorheological anti-swing device for marine crane

摘要

Due to the marine environment, the operation efficiency of marine cranes is low, and it is easy to cause safety accidents. In this study, magnetorheological (MR) technology is applied to the field of payload anti-swing for marine crane, and designs a parallel MR anti-swing device. The dynamic model of the anti-swing system is derived based on the robot theory and Lagrange method. To enhance the efficiency of anti-swing and reduce the energy, the variable universe fuzzy PID (VUFPID) controller is designed. The anti-swing effect of MR anti-swing device is simulated and analyzed. The results show that the effect of payload anti-swing is exceed 80%, and the energy consumption of MR anti-swing device with VUFPID controller is reduced by 49% compared with MR anti-swing device with a fixed current (1.9 A) under the approximate anti-swing effect. The physical prototype of MR anti-swing device is installed on the laboratory crane. The experimental results show that the attitude of the payload is reduced by 80%. The proposed MR anti-swing device improve the efficiency of Marine cranes.