Innovative multi-tagline anti-swing and positioning system: dynamic analysis and experimental validation for slender-beam payloads in offshore environments

To address the challenges of low hoisting efficiency, high risk, and difficulty in achieving accurate positioning caused by the double-pendulum phenomenon of slender-beam payload (SBP) under rough sea conditions, a novel Multi-Tagline Anti-swing And Positioning System (MTAPS) is proposed in this study. A three-dimensional double-pendulum dynamic model of the MTAPS is established by using multi-body dynamics and Newton's classical mechanics. Furthermore, a decoupling control method is proposed to suppress the swing of the SBP. Numerous simulations and experiments have proved that the MTAPS can effectively reduce the swing of the SBP in an offshore environment. Under the set working conditions, the MTAPS can effectively reduce the swing of the SBP by more than 85%. The anti-swing device, based on the principles of this system, has been implemented in engineering practices, offering a novel approach for the rapid lifting and precise positioning of SBP in offshore settings.