Dynamic analysis of the rope-sheave system of polar crane for nuclear power plant

Abstract

A systematic method for analyzing the dynamic of the rope-sheave system of polar crane for nuclear power plant is proposed taking physical structure of the system into account based on the virtual power principle in this paper. The dynamical equations of the spatial ropes are established by spline interpolation based on the spatial description parameters, which could be applied to the rope with variable length. For sheaves of different types, the corresponding essential parameters and the virtual power equations are given. Properties and formulations of the variables involved in these equations are studied in detail. In order to improve the solving efficiency, the high-frequency items are filtered out by replacing the instant strain by time- average strain in integral and the degree of freedoms (DOFs) of the spatial ropes are condensed to the boundary nodes of the ropes. Hence, the total virtual power equation in terms of the sheaves’ parameters is obtained. Two numerical examples, including lowering the load and hoisting the load for different types of rope-sheave systems, are given to verify the rationality and feasibility of the method.

Keywords

Rope-sheave system dynamic analysis principle of virtual power spatial parameters cubic spline interpolation

Get full access to this article

View all access options for this article.

References

Kim

Hong

Sul

. Anti-sway control of container cranes: inclinometer, observer, and state feedback. Int J Control Autom Syst 2004; 2: 435–449.

Kim

Hong

. Boundary control of container cranes from the perspective of controlling an axially moving string system. Int J Control Autom Syst 2009; 7: 437–445.

Belunce

Pandolfo

Roozbahani

et al.

Novel control method for overhead crane’s load stability. Procedia Eng 2014; 106: 108–125.

Sun

Kleeberger

Liu

. Complete dynamic calculation of lattice mobile crane during hoisting motion. Mech Mach Theory 2005; 40: 447–466.

Park

Cha

Lee

. Dynamic factor analysis considering elastic boom effects in heavy lifting operations. Ocean Eng 2011; 38: 1100–1113.

Xie

Liang

et al.

Analysis for dynamic characteristics in load-lifting system of the Crane. Procedia Eng 2011; 16: 586–593.

Zhu

Teppo

. Design and analysis of a scaled model of a high-rise, high-speed elevator. J Sound Vibr 2003; 264: 707–731.

Zhu

Chen

. Theoretical and experimental investigation of elevator cable dynamics and control. J Vibr Acoust 2006; 128: 66–78.

Kaczmarczyk

Ostachowicz

. Transient vibration phenomena in deep mine hoisting cables. Part 1: mathematical model. J Sound Vibr 2003; 262: 219–244.

10.

Kaczmarczyk

Ostachowicz

. Transient vibration phenomena in deep mine hoisting cables. Part 2: numerical simulation of the dynamic response. J Sound Vibr 2003; 262: 245–289.

11.

Duan

et al.

Deployment/retrieval modeling of cable-driven parallel robot. Math Probl Eng 2010; 17: 242–256.

12.

Bao

Cui

et al.

Dynamic analysis of cable-driven parallel manipulators with time-varying cable lengths. Finite Elements Anal Des 2012; 48: 1392–1399.

13.

Carter JT and Greene M. Deployment and retrieval simulation of a single tether satellite system.In: System theory, 1988. Proceedings of the twentieth southeastern symposium on, Charlotte, North Caroline, USA, 1988, pp.657–660. IEEE.

14.

Buckham B and Nahon M. Dynamics simulation of low tension tethers.In: Oceans ‘99 MTS/IEEE. Riding the crest into the century, Seattle, Washington, USA, 1999, vol.2, pp.757–766. IEEE.

15.

Luo

ACJ

Mote

. Equilibrium solutions and existence for traveling, arbitrarily sagged elastic cables. J Appl Mech 2000; 67: 148–154.

16.

Luo

ACJ

Mote

. An exact, closed-form solution for equilibrium of traveling, sagged, elastic cables under uniformly distributed loading. Commun Nonlinear Sci Numer Simul 2000; 5: 6–11.

17.

Andreu

Gil

Roca

. A new deformable catenary element for the analysis of cable net structures. Comput Struct 2006; 84: 1882–1890.

18.

Sofi

Muscolino

. Dynamic analysis of suspended cables carrying moving oscillators. Int J Solids Struct 2007; 44: 6725–6743.

19.

Kamman

Huston

. Dynamics of constrained multibody systems. J Appl Mech 1984; 51: 899–903.

20.

Yuh

Young

Yuh

et al.

Dynamic modeling of an axially moving beam in rotation: simulation and experiment. J Dyn Syst Meas Control 1991; 113: 34–40.

21.

Stylianou

Tabarrok

. Finite element analysis of an axially moving beam, part I: time integration. J Sound Vibr 1994; 178: 433–453.

22.

Stylianou

Tabarrok

. Finite element analysis of an axially moving beam, part II: stability analysis. J Sound Vibr 1994; 178: 455–481.

23.

Koh

Rong

. Dynamic analysis of large displacement cable motion with experimental verification. J Sound Vibr 2004; 272: 187–206.

24.

Zhu

. Energetics and stability of translating media with an arbitrarily varying length. J Vibr Acous 2000; 122: 295–304.

25.

Mcdonald

Peyrot

Mcdonald

et al.

Analysis of cables suspended in sheaves. J Struct Eng 1988; 114: 693–706.

26.

Mcdonald

Peyrot

. Sag-tension calculations valid for any line geometry. J Struct Eng 1990; 116: 2374–2387.

27.

Bruno

Leonardi

. Nonlinear structural models in cableway transport systems 1. Simul Pract Theory 1999; 7: 207–218.

28.

Wei

. Cable-pulley element to analyses pulley sliding on cable. Acta Mechanica Sinica 2005; 37: 322–328. In Chinese).

29.

Aufaure

. A finite element of cable passing through a pulley. Comput Struct 1993; 46: 807–812.

30.

Aufaure

. A three-node cable element ensuring the continuity of the horizontal tension; a clamp–cable element. Comput Struct 2000; 74: 243–251.

31.

Zhou

Accorsi

Leonard

. Finite element formulation for modeling sliding cable elements. Comput Struct 2004; 82: 271–280.

32.

Onur

. Condition monitoring of Koepe winder ropes by electromagnetic non-destructive inspection. Insight Non-Destr Test Cond Monit 2012; 54: 144–148.

33.

Onur

Erdem

. Experimental and theoretical investigation of bending over sheave fatigue life of stranded steel wire rope. Indian J Eng Mater Sci 2012; 19: 189–195.

34.

Wang

Cao

Wang

et al.

A novel driving strategy for dynamic simulation of hoisting rope with time-varying length. Int J Model Simul Sci Comput 2013; 04. Article ID 1350009.

35.

Choo

. Dynamic analysis of tower cranes. J Eng Mech 2005; 131: 88–96.

36.

Lee

Choo

. Finite element modelling of frictional slip in heavy lift sling systems. Comput Struct 2003; 81: 2673–2690.

37.

Choo

. Super element approach to cable passing through multiple pulleys. Int J Solids Struct 2005; 42: 3533–3547.

38.

. Dynamics of multibody systems, Beijing: Science Press, 2008, pp. 145–148. (in Chinese).