Dynamic Simulation and Control Research for Special Shipborne Crane Based on ADAMS

Abstract:

The special crane used by ship in this paper is a multi-joints and folding robot arm’s work system. Because it needs to work in a variety of sea conditions and being affected by waves and so on, the high demands of the trajectory control should be required. For this kind of complex control system, a system which is analyzed and simulated by the combination of ADAMS (Automatic Dynamic Analysis of Mechanical Systems) modeling based on a virtual prototype and MATLAB control is built and designed. The composition and implementation of the system are presented in the paper. The fuzzy cerebella model articulation controller (FCMAC) was used to tracking control and dynamic simulation research was done for this system. The results showed the superiority of this method which made kinematics and dynamics modeling analysis on ship-borne special crane based on the ADAMS. The simulation results of controller showed FCMAC had good tracking effect. The research method has intuitive, efficient and convenient features, provide better thought for similar studies of complex mechanical system.

• Periodical: Advanced Materials Research (Volumes 443-444)
• Pages: 246-251
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.443-444.246
• Online since: January 2012
• Authors: Peng Li, Fang Zhu, Xu Feng An
• Keywords: Adam, Fuzzy Cerebella Model Articulation Controller (FCMAC), Modeling, Simulation, Special Shipborne Crane

References

[1] Y. Ying, L. Gang and G. Y. Zhao, Control strategy based on ADAMS mechanical model for vehicle's active suspension and simulation, Journal of Northeastern University. China. vol. 27, pp.72-75, January (2006).

[2] Z. C. Wu, Q. M. Zhu, W. Alan, S. Z. Chen, Study of fuzzy control for controllable suspension based on ADAMS and MATLAB co-simulation, Int. J. Model. Ident. Control. Switzerland, vol. 9, pp.190-198, April (2010).

DOI: 10.1504/ijmic.2010.032378

[3] G. J. Liu, M. Wang and B. He, Cooperative simulation based on adams and matlab/simulink for autonomous underwater vehicle, Journal of Mechanical Engineering. China, vol. 45, pp.22-29, October (2009).

DOI: 10.3901/jme.2009.10.022

[4] Y. N. Wang, Intelligent Robot Control Engineering, Beijin: Science Pubishing House, (2004).

[5] P. Li, C. G. Wang, Design and Implementation of Visual Simulation System for Shipborne Crane Control, 2009 Chinese Control and Decision Conference, IEEE Press, June 2009, pp.5510-5514, doi: 10. 1109/CCDC. 2009. 5191754.

DOI: 10.1109/ccdc.2009.5191754

[6] Z. Zhu, M. P. Naing and A. M. Abdullah, Integrated ADAMS+ MATLAB environment for design of an autonomous single wheel robot, 35th Annual Conference of the IEEE Industrial Electronics Society(IECON 2009), IEEE Press, Nov. 2009, pp.2253-2258.

DOI: 10.1109/iecon.2009.5415187

[7] H. R. Wang, J. Z. Wang, Research on co-simulation with ADAMS and MATLAB for servo tracking system mounted with a small arm, Journal of Beijing Institute of Technology (English Edition). China, vol. 18, pp.268-272, September (2009).