Control design of a crane for offshore lifting operations
Spathopoulos, M.P. and Fragopoulos, D.; (2001) Control design of a crane for offshore lifting operations. In: Nonlinear control in the year 2000, vol 2. Lecture Notes in Control and Information Sciences, 259 (2). Springer, pp. 469-486. ISBN 1-85233-364-2 (http://dx.doi.org/10.1007/BFb0110321)
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This paper presents a control system that reduces pendulation of suspended loads in offshore lifting operations. We develop a model of the ship crane together with a designed anti-pendulation arm. We derive two different types of models for the system and we apply non-linear and linear control design techniques. The non-linear design involves Liapunov analysis and the linear involves LQG and generalized predictive control. The advantage for the linear control is that the use of the vessel dynamics and the sea wave disturbances in the control design improves considerably the behavior of the controlled system.
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Item type: Book Section ID code: 6140 Dates: DateEvent2001PublishedSubjects: Technology > Mechanical engineering and machinery Department: Faculty of Engineering > Mechanical and Aerospace Engineering
Unknown DepartmentDepositing user: Strathprints Administrator Date deposited: 29 Jul 2008 Last modified: 08 Apr 2024 12:21 Related URLs: URI: https://strathprints.strath.ac.uk/id/eprint/6140