Picture of wind turbine against blue sky

Open Access research with a real impact...

The Strathprints institutional repository is a digital archive of University of Strathclyde research outputs.

The Energy Systems Research Unit (ESRU) within Strathclyde's Department of Mechanical and Aerospace Engineering is producing Open Access research that can help society deploy and optimise renewable energy systems, such as wind turbine technology.

Explore wind turbine research in Strathprints

Explore all of Strathclyde's Open Access research content

Pendulation control of an offshore crane

Spathopoulos, M.P. and Fragopoulos, D. (2004) Pendulation control of an offshore crane. International Journal of Control, 77 (7). pp. 654-670. ISSN 0020-7179

Full text not available in this repository. (Request a copy from the Strathclyde author)

Abstract

This paper considers a control system for a crane that reduces pendulation of suspended loads in offshore lifting operations. The modelling of the ship crane is studied and an anti-pendulation arm is designed and proposed. Two different types of models are derived, one based on torque and one kinematic. For the torque model, Lyapunov analysis and non-linear control design is applied on the vertical plane. Linear control design techniques for the linearized kinematic model are applied in both vertical and horizontal planes. These techniques are based on linear quadratic Gaussian (LQG) and generalized predictive control (GPC). The advantage for the linear control designs is the explicit use of the vessel dynamics and sea wave disturbances in the control design that considerably improves the controlled pendulation of the crane. Design issues, simulation results and comparison studies are considered.