Nonlinear Dynamic Modeling and Simulation of Circular Crane Anti-sway Payload

Circular crane is installed in the nuclear power plants as important lifting transport equipment, which needs a high precision positioning and safety requirement. Although some enterprises in China have the ability of design and manufacture such as Taiyuan heavy industry and Dalian heavy industry, many circular cranes are imported. Generally, there are two main methods, which includes active anti sway method and passive anti sway method. Specifically, it includes mechanical type, hydraulic oil cylinder type, steel wire rope type, mechanical and electronic type, and intelligent electronic type. Compared with the mechanical control system and hydraulic control system, intelligent electronic anti sway system has more advantages such as less additional equipment and weight, short swing time, and anti-swing control simultaneously. In the process of research at the Tianwan nuclear power station which is built in Lianyungang city, sometimes the circular crane was not used with a very slow speed by workers in the nuclear internal for the sake of safety, because the payload swing is concerned with the trolley speed and trolley acceleration. Accurately, slow speed method for anti sway is effective but inefficient. There is no literature reported in public that the anti sway control as a key technology had been used in the circular crane payload.