Dynamic characteristics of series-parallel hybrid rigid-flexible coupling double-mass underactuated system on floating platform. (January 2023)

• Record Type: Journal Article
• Authors: Zhu, Baojun; Li, Erwei; Zhao, Tieshi; Wang, Chang; Tang, Zhaofeng; Li, ZiNing
• Is Part Of: Mechanism and machine theory. Volume 179(2023)
• Publication Date: 2023-01
• Subjects: Series-parallel hybrid -- Rigid-flexible coupling -- Underactuated systems -- Non-smooth -- Coupled oscillators -- Nonlinear dynamic behavior; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2022.105132
• Languages: English
• ISSNs: 0094-114X

Abstract

Highlights: A decoupled establishing method of coordinates system of 3D shipboard crane systems. The non-smooth dynamics of an 18-DOF series-parallel hybrid rigid-flexible coupling underactuated system. Frequency spectrum, Poincaré map, and phase trajectories are used to analyze the characteristics. Out-of-plane behavior, asymmetric oscillation, and weak chaos are found. Experiments are performed to validate the dynamics and open-loop anti-swing performance. Abstract: For heavy cargo swing suppression on offshore boom cranes, a cable-driven series-parallel hybrid double-mass active anti-swing mechanism is proposed, which is a typical non-smooth coupled oscillator. To facilitate the study of dynamic characteristics of the system, the cargo swings were decomposed into two decoupled swings. Then, the kinematics is built using the influence coefficient principle. Considering the longitudinal vibration, cables were regarded as piecewise spring-damping systems. Subsequently, an 18-DOF non-smooth dynamic model with actuators was obtained. Additionally, the influence of the floating platform's excitations and the system's initial state on responses was investigated by numerical solution. Analysis tools such as the phase trajectory and Poincaré map were used to explore the dynamic characteristics, and the results exhibit the existence of out-of-plane behavior, secondary resonance, asymmetric oscillation, and chaos. Finally, experiments were performed to validate the dynamics and performance of an open-loop anti-swing method. This study will be significant for further research on anti-swing controllers.