An improved zero vibration method and parameter sensitivity analysis for the swing control of bridge-type grab ship unloader

Abstract

This paper presents an improved zero vibration method for the swing control of bridge-type grab ship unloader. With the method, the concepts of equivalent frequency and the equivalent damping ratio are proposed to cope with the changeable length of rope, and the optimal path planning is considered to avoid collision and improve efficiency. Numerical simulation results of a case study indicate that the maximum residual swing angle of the grab can be limited to a small range to ensure safety using the improved zero vibration method, whereas the traditional zero vibration method with average frequency and zero damping ratio gets poor results of swing control. After that, the sensitivities of the max residual swing angle to the changes of some main design parameters (damping coefficient, deviation of the center of gravity of the grab in rope direction, and time delay of the system) and operating parameters (position deviation of the trolley, initial length deviation of the rope, and initial swing angle) are analyzed. The results obtained display that the residual swing angle is sensitive to the deviation of grab’s center of gravity, the deviation of trolley’s position, and the initial swing angle under the same control parameters, but insensitive to the damping coefficient, the time delay of the system, and the initial length deviation of the rope. This can help to select the appropriate parameter values ​​or adaptive range in an actual unloader.