Pendulation control of an offshore crane

M.P. Spathopoulos, D. Fragopoulos

Research output: Contribution to journalArticle

20 Citations (Scopus)

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.
LanguageEnglish
Pages654-670
Number of pages16
JournalInternational Journal of Control
Volume77
Issue number7
DOIs
Publication statusPublished - 2004

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Cranes
Ship cranes
Kinematics
Torque
Control systems

Keywords

  • control systems
  • cranes
  • offshore lifting operations
  • pendulation
  • mechanical engineering

Cite this

Spathopoulos, M.P. ; Fragopoulos, D. / Pendulation control of an offshore crane. In: International Journal of Control. 2004 ; Vol. 77, No. 7. pp. 654-670.
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Pendulation control of an offshore crane. / Spathopoulos, M.P.; Fragopoulos, D.

In: International Journal of Control, Vol. 77, No. 7, 2004, p. 654-670.

Research output: Contribution to journalArticle

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AU - Spathopoulos, M.P.

AU - Fragopoulos, D.

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AB - 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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KW - offshore lifting operations

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