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1 Polish Maritime Research

1 2022

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Dynamic analysis and experiment of underactuated double-pendulum anti-swing device for ship-mounted jib cranes

Wang Jianli, Liu Kexin, Wang Shenghai, Chen Haiquan, Sun Yuqing, Niu Anqi, Li Haolin

Polish Maritime Research

2022

nr 4

145--154

This paper proposes a three degrees of freedom parallel anti-swing method by the main and auxiliary cables to address the problems related to underactuated double-pendulum anti-swing for a ship-mounted jib crane. By analysing the dynamic coupling relationship between the swing of the hook and the payload, it seeks to establish an accurate dynamic model of the anti-swing device under the ship’s rolling and pitching conditions, and discusses the influence of ship excitation, the crane state, load posture and anti-swing parameters on the in-plane and out-of-plane swing angles. The analysis shows that the primary pendulum reduces the in-plane angle by 90% and the out-of-plane angle by 80%, the in-plane angle of the secondary pendulum is reduced by 90%, and the out-of-plane angle is reduced by 80%. The reliability of the simulation data is verified through experiments.