Swing-Rotation Coupling Vibration Analysis and Control of Cargo Container

集装箱运输船使用岸上集装箱起重机装卸货物集装箱。位置和摆动抑制控制对于货物装卸效率具有重要意义，为了发展控制技术，将悬挂式集装箱建模为移动灯形质量摆。然而，近年来，旋转振动困扰着货物装卸效率。因此，为了正确分析摆动-转动耦合运动，本文将集装箱建模为一个矩形刚体，由四根绳索悬挂在小车上，运动到目标位置。采用带反馈行走的小车和安装在集装箱头块上的惯性转子来控制运动。偏载使吊箱倾斜，因为离小车较远的吊桶需要较长的吊绳长度，吊绳容易张拉。试验和仿真结果表明，吊箱的转动振动与小车行驶引起的摆动振动有关，也与偏载有关。采用小车反馈式行走和惯性转子控制定位和摆动减振。

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.