Dynamics of container cranes: three-dimensional modeling, full-scale experiments, and identification

Cranes on offshore vessels are subjected to crane dynamics, structural couplings to the vessel, and environmental influence by waves and currents. The recent trend has been to use larger cranes on smaller vessels, which makes the lifting operation more complex and potentially dangerous. The use of digital twins (DTs) is emerging as one way to enable safer operations, real‐time simulation, and maintenance prediction. On offshore vessels, a DT can monitor the lifting operation to create a safer work environment. The SPADE (stakeholders, problem formulation, alternatives, decision making, and evaluation) model has been used as a framework toward the creation of a DT of cranes on offshore vessels. Several cases involving simulation of cranes revealed the lack of an adequate simulation of cable and pulleys suitable for use in a DT. The simulation is important for accurate results and for implementation in control systems. A trade study was performed to determine a numerical method adequate for cable and pulley simulation. The trade study identified the absolute nodal coordinate formulation in the framework of arbitrary Lagrangian–Eulerian as a promising numerical formulation.

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“…In FEA, a cable has commonly been represented as an axial spring . This is derived from Hooke's law,

F = - k x

, where F is the force, k is the spring characteristic, and x is the axial displacement.…”

Section: Alternatives From Trade Studymentioning

confidence: 99%

“…In FEA, a cable has commonly been represented as an axial spring. 14,17 This is derived from Hooke's law, F = −kx, where F is the force, k is the spring characteristic, and x is the axial displacement. For more advanced behavior, the spring characteristic can be tabulated dependent on the cable length.…”

Section: Springmentioning

confidence: 99%

Trade study to select best alternative for cable and pulley simulation for cranes on offshore vessels

Fotland

Haskins

Rølvåg

2019

Systems Engineering

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“…Azeloglu et al [11] established physical and mathematical models to study the behavior of container cranes under seismic loadings, and the mathematical modeling of the container crane structure revealed reasonable results under dynamic loadings. Arena et al [12] presented a 3D modeling of container cranes subjected to wind loads; the model was analyzed with full-scale experimental tests, system identification, and model validation. Time integration was performed to validate the mechanical model by comparing its predictions with the experimental results.…”

Section: Literature Reviewmentioning

confidence: 99%

Dynamic Interaction Behavior between Jumbo Container Crane and Pile - Supported Wharf underNear - Field and Far - Field Ground Motions

Li¹,

Song²,

Cui³

2016

JESTR

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Playing an important role in local and national seaport activities, container wharves are susceptible to structural failure and damage during earthquake events. Therefore, factors that affect the seismic response of crane-wharf structures under different types of earthquake ground motions should be elucidated. In this paper, 3D finite element models were established to investigate the differences of natural vibration characteristics between the wharf and crane-wharf structures. The dynamic response of a typical pile-supported wharf structure and the interaction behavior of a crane and wharf structural system under seismic actions of near-field and far-field ground motions were studied by performing numerical simulation and time-history response analysis. Axial force-moment relation curves were adopted to analyze the elastic-plastic limit state of the wharf structure under different ground motions. Results showed that the consideration of the container crane increased the natural vibration period of the pile-supported wharf structure and affected the dynamic characteristics of the structure. Compared with the far-field earthquake ground motion, the nearfield earthquake exerted a more significant impact on the structural dynamic response that controlled the elastic-plastic limit state. With the presence of a crane, the moment and shear force of the pile-top decreased and the location of the extreme value moved down obviously. The findings demonstrated that considering the crane changed the failure mechanism of the wharf structure, and the eccentric effect of the crane may amplify the dynamic response as the peak ground acceleration increases. The results provide reference for the seismic design and the evaluation of the seismic response of container wharves.

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“…The value of the moment required to maintain balance in relation to the tip-over axis [13,17,20,21] may constitute the measure of the risk of the crane tipping over. Loading with the moment from the mass of the crane elements and the loads is additionally summed up with the moments that originate from inertia forces (caused by the movement of the cargo and its parts) and from the load with wind [22][23][24][25]. The overturning torque M w is counteracted by the stabilizing torque M u with an opposite direction that is dependent on the mass and the location of the mass centre of the crane elements ( Fig.…”

Section: Introductionmentioning

confidence: 99%

Crane Stability Assessment Method in the Operating Cycle

2018

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The article presents stability assessment of the mobile crane handling system based on the developed method with the use of the mathematical model built and the model built in the integrated CAD/CAE environment. The model proposed consists of the main crane assemblies coupled together: the truck with outrigger system and the base, the slewing column, the inner and outer arms, the six-member telescopic boom, the hook with lifting sling and the transported load. Analyses were conducted of the displacements of the mass centre of the crane system, reactions of the outrigger system, stabilizing and overturning torques that act on the crane as well as the safety indicator values for the given movement trajectories of the crane working elements.

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Dynamics of container cranes: three-dimensional modeling, full-scale experiments, and identification

Cited by 46 publications

References 18 publications

Trade study to select best alternative for cable and pulley simulation for cranes on offshore vessels

Trade study to select best alternative for cable and pulley simulation for cranes on offshore vessels

Dynamic Interaction Behavior between Jumbo Container Crane and Pile - Supported Wharf underNear - Field and Far - Field Ground Motions

Crane Stability Assessment Method in the Operating Cycle

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