An application of model predictive control for a shipboard crane

Kimiaghalam, B.; Homaifar, Abdollah; Sayarrodsari, B.

doi:10.1109/acc.2001.945838

Cited by 21 publications

(10 citation statements)

References 11 publications

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“…Mechanical method is used to the crane with Maryland Rigging System [1] . The linear dynamic model of the shipboard crane is established by using Lagrange method, and application of model predictive control [2] . Optimal control method [1] realize the effective control of the swaying of the crane.…”

Section: Introductionmentioning

confidence: 99%

Modeling and kinematic simulation of the telescopic sleeve anti-swing device based on Adams depend on crane rotating

Han¹,

Chen²,

Li³

et al. 2016

Proceedings of the 2016 4th International Conference on Mechanical Materials and Manufacturing Engineering

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Section: Introductionmentioning

confidence: 99%

Modeling and kinematic simulation of the telescopic sleeve anti-swing device based on Adams depend on crane rotating

Han¹,

Chen²,

Li³

et al. 2016

Proceedings of the 2016 4th International Conference on Mechanical Materials and Manufacturing Engineering

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“…Maryland Rigging System [1] established the linear dynamic model of ship crane by Lagrange method. Yuewei Li [2] compared commonly used anti-swing mechanism. PARKER and others [3] used the Rider Block Tagline System to control the pendulation of the load.…”

mentioning

confidence: 99%

Kinematic Simulation of Telescopic Sleeve Anti-Swing Device Based on Ship Swing

Han¹,

Chen²,

Wang

et al. 2016

Proceedings of the 2016 International Conference on Mechatronics Engineering and Information Technology

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In order to reduce the impacts of wave on ship-mounted crane during operating the crane under rough weather conditions. A new type of shipboard crane telescopic sleeve anti-swing device was proposed. It uses the rigid constraints of the sleeve to reduce the swing range of the load, and through the universal torque damping mechanism to reduce stress on the telescopic sleeve. The form and principle telescopic sleeve device was introduced. A mathematical model of the ship and crane is established. Establish the simulation model by Adams, the load swing angle with having telescopic sleeve and without telescopic sleeve were achieved respectively under ship swing. At the end, the swing angle of these two models were analyzed according to the simulation results. Verify the telescopic sleeve device has a significant effect on anti-swing. IntroductionWhen the ship is working at sea, the ship will produce rolling, pitching, yawing, swaying, surging, heaving motion in six degrees of freedom, due to the influence of wind, wave and drift. It is impossible to carry out the job when the sea conditions are badly. The anti-swing technology of the crane has a broad application prospect in the offshore hoisting operation.On the issue of anti-swing of crane, the main research includes mechanical and intelligent anti-swing method. Maryland Rigging System [1] established the linear dynamic model of ship crane by Lagrange method. Yuewei Li [2] compared commonly used anti-swing mechanism. PARKER and others [3] used the Rider Block Tagline System to control the pendulation of the load. Its structure and control are simple compared with the Maryland Rigging System. But when the rope length is longer, its function is restricted. JANG and others [4] established the dynamic model of container ship crane, and used T-S fuzzy control method to control the swing of load. Ismail and others [5] established the three degree of freedom model of marine rotary boom crane, and used two order sliding model to control to realize the tracking and anti-swing. Pengcheng Wang and others [6] make dynamic analysis and established the model of marine rotary boom crane. Yongchun Fang and others [7] designed nonlinear controller depend on the Pengcheng Wang's model and simulation tested.Combined with the present situation and the actual situation of the vessel. This paper presents a kind of telescopic sleeve anti-swing device. Established the kinematic model of ship and crane. According to the model, analyzed the influence of the ship motion on the crane and the stress of the telescopic sleeve device. And used the Adams to do simulation experiment. Verify the telescopic sleeve device has a good effect of anti-swing. Principle of anti-swingThe telescopic sleeve device is composed of a universal torque structure and a telescopic sleeve. Telescopic sleeve device is shown in Fig.1. The anti-swing principle of telescopic sleeve device is shown in Fig.2. When Crane boom hoisting and luffing by the adjustment of the hydraulic oil cylinder. The sleeve is always in a vert...

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“…To solve the swing of object on the Marine crane, there are two main types of solving method, one is Mechanical anti-sway, another is intelligent anti-sway. In the aspect of mechanical anti-sway, KIMIAGHALAM B established linear kinetic model for Maryland locks on the Marine crane, applying model predictive control and optimal control method to control of object swing [1,2]. In the aspect of intelligent anti-sway, the US Sandia National laboratory uses TSS POS/MV320 navigation system to measure ship orientation, use the combination of inertial measurement unit IMU, gyroscope and GPS to measure ship motion, and use position control strategy, all of which can better anti-sway of hanging objects [3,4].…”

Section: Introductionmentioning

confidence: 99%

The Speed Control of Constant Tension Motor of Marine Crane

Chen

et al. 2016

MATEC Web Conf.

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Abstract. This article describes the working principle of the marine beacon crane hanging disc mechanical anti-sway device, and establish mathematical model on the rope controlling hanging disc of mechanical anti-sway device; Through matlab simulation analysis, this article obtains the relation curve between the velocity of traction rope of hanging disc and output frequency of the crane motor, combining rotary crane scaled model, this article carries out anti-sway experiment for the rotary crane to examine the crane's anti-sway effects.

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An application of model predictive control for a shipboard crane

Cited by 21 publications

References 11 publications

Modeling and kinematic simulation of the telescopic sleeve anti-swing device based on Adams depend on crane rotating

Modeling and kinematic simulation of the telescopic sleeve anti-swing device based on Adams depend on crane rotating

Kinematic Simulation of Telescopic Sleeve Anti-Swing Device Based on Ship Swing

The Speed Control of Constant Tension Motor of Marine Crane

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