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| Modeling and Simulation of Flexible Cable Pendulum System Excited by Lifted Object Motion |
| WANG Li-Quan-1, XU Yuan-Ge-1, HE Ning-2, LI Zhen-1 |
| (1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China; 2. Offshore Engineering Technology Center, Offshore Oil Engineering Co. Ltd., Tianjin 300451, China) |
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Abstract According to the motion characteristics of flexible cable pendulum, the sling movement of crane vessel was decomposed into rope swing component and rope fluctuations component which are independent mutually. Using string vibration theory, this paper constructed a wire fluctuations mathematics model, which can ensure existence uniqueness under mixed initial boundary conditions. In addition, using unconditional stable hidden type difference method, it resolved the fluctuations equation numerical solutions stability. The life-like wire movement was obtained by applying a hanging property swing mathematics model in which ball coordinates represent swing angle and the principle of superposition. The simulation results show that the mathematical model and the algorithm proposed in this paper can effectively solve the realistic sling real-time motion.
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Received: 27 September 2011
Published: 28 September 2012
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