Swing-Rotation Coupling Vibration Analysis and Control of Cargo Container

集装箱运输公司使用陆上集装箱起重机来处理货物集装箱。定位和摆动抑制控制对货物装卸效率是重要的，已被建模为一个移动的灯质量摆的控制技术。然而，近年来，旋转振动困扰着货物装卸效率。因此，为了正确分析摆转耦合运动，本文将集装箱建模为一个由四根绳索悬挂在小车上的矩形刚体，并将其运动到目标位置。该运动是使用具有反馈行进的小车和安装在容器头块上的惯性转子来控制的。偏载使悬挂的集装箱倾斜，因为离小车较远的提升卷筒需要较长的提升绳长度，这样悬挂绳容易伸长。试验和仿真结果表明，吊箱的旋转振动与小车运行引起的摆动振动和偏心载荷有关。采用小车反馈行走和惯性转子控制定位和摆转减振。

A container carrier handles cargo containers using onshore container crane. Positioning and swing suppression control is important for cargo-handling efficiency and the suspended container has been modeled as a traveling lamped mass pendulum to develop the control technique. However recently, rotational vibration troubles cargo-handling efficiency. Therefore, in this paper to analyze properly swing-rotation coupling motion, the container is modeled as a rectangular rigid body suspended by four ropes from the trolley, traveling to the target position. The motion is controlled using trolley with feedback traveling and an inertia rotor mounted on the container head block. Eccentric loading inclines the suspended container, since the hoisting drum far away from the trolley needs long hoisting rope length and then the suspending rope is easy to stretch. The experimental and simulation results show that rotational vibration of suspended container relates with swing vibration caused by trolley traveling and also with eccentric loading. Positioning and swing-rotation vibration suppression can be controlled using trolley feedback traveling and inertia rotor.