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

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Official URL: http://dx.doi.org/10.1080/00207170410001703403

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.

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Item metadata

Item type:	Article
ID code:	5025
Dates:	Date Event 2004 Published
Keywords:	control systems, cranes, offshore lifting operations, pendulation, mechanical engineering, Mechanical engineering and machinery, Control and Systems Engineering, Computer Science Applications
Subjects:	Technology > Mechanical engineering and machinery
Department:	Faculty of Engineering > Mechanical and Aerospace Engineering Unknown Department
Depositing user:	Strathprints Administrator
Date deposited:	20 Dec 2007
Last modified:	23 Apr 2021 02:16
URI:	https://strathprints.strath.ac.uk/id/eprint/5025

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