Dynamic characteristics of series-parallel hybrid rigid-flexible coupling double-mass underactuated system on floating platform

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 coef-ficient 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 Poincare ' 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.

Automated summary

This paper proposes a cable-driven series-parallel hybrid double-mass active anti-swing mechanism for heavy cargo swing suppression on offshore boom cranes, and validates its dynamic performance through numerical solutions and experiments. The results demonstrate the existence of various non-smooth behaviors in the system, which is significant for further research on anti-swing controllers.