Feedback and feedforward control law for a ship crane with Maryland rigging system

Kimiaghalam, B.; Homaifar, Abdollah; Bikdash, Marwan

doi:10.1109/acc.2000.876660

Cited by 28 publications

(18 citation statements)

References 1 publication

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, they found that load oscillations were decreased by only about 50 %. In 2000, Kimiaghalam et al [10] considered a crane with a rope suspended from two points on the boom, with the cargo hanging from a pulley in the middle. They showed that it is possible to almost eliminate sway motion by applying a combination of feedback and feed-forward control to the rope length and luffing angle of the boom.…”

Section: Related Workmentioning

confidence: 99%

A Novel Approach To Anti-Sway Control For Marine Shipboard Cranes

Albada¹,

Albada²,

Hildre³

et al. 2013

ECMS 2013 Proceedings Edited By: Webjorn Rekdalsbakken, Robin T. Bye, Houxiang Zhang

View full text Add to dashboard Cite

This paper addresses the development of a novel antisway control approach for marine shipboard cranes, offering stability, safety, and efficiency during lifting, handling, transportation, and other manipulation. The proposed idea consists of the development of an integrated system with control strategies to both reduce the effect of three-dimensional payload pendulation and to minimize wave impact during shipboard crane manipulation. We propose to use a control mechanism based on energy dissipation. The simulation results confirm the principle and effectiveness of the proposed methods for damping out pendulation. In future work, we aim to minimize wave impact on the payload by reducing the dynamic forces through controlling the length of the hoist cable while adapting to the lateral wave velocity. During the final phase of this project, the proposed control strategy will be implemented as a real physical prototype for controlling different kinds of shipboard cranes.

show abstract

Section: Related Workmentioning

confidence: 99%

A Novel Approach To Anti-Sway Control For Marine Shipboard Cranes

Albada¹,

Albada²,

Hildre³

et al. 2013

ECMS 2013 Proceedings Edited By: Webjorn Rekdalsbakken, Robin T. Bye, Houxiang Zhang

View full text Add to dashboard Cite

show abstract

“…Kimaihgalam et al [8][9] applied the fuzzy control method and the feedforward controller to Maryland lifting device to reduce the swing, and achieved good results.…”

Section: Introductionmentioning

confidence: 99%

Active pendulation control system for the underactuated davit

Liang

Shi

Wang

et al. 2011

2011 IEEE International Conference on Automation and Logistics (ICAL)

View full text Add to dashboard Cite

This paper considers an active control system that reduces pendulation of suspended loads for the underactuated characteristic of the three-dimensional davit system. The dynamic model is established with the Lagrange equation and the anti-swing controller of davit system is designed based on the system's energy. Compared with other anti-swing controllers of the marine davit, it adopts active pendulation control and doesn't need approximately decoupling and linearization. And it still can restrain pendulation of load effectively, even though the mass of load and the length of cable are uncertain. The stability of closedloop system is proved by Lyapunov stability theory and LaSalle invariance principle. Simulation results demonstrate that the active pendulation control system is effective.Index Terms -davit, energy-based, underactuated, active pendulation control, fixed-length of the cable

show abstract

“…For example, the rider block tagline system has been employed extensively to change the natural frequency of the pendulum [16]. Later on, the Maryland rigging system was designed to dissipate the swing energy of the payload, based on which some additional control strategies, such as the combination of feedback and feedforward control components [17], fuzzy controller [18], and so on, have been proposed to further improve the operation performance. However, it is not difficult to see that the introduction of accessorial parts makes the dynamics of boom cranes even more difficult to analyze.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Analysis and Nonlinear Control of an Offshore Boom Crane

Fang

Wang

Sun

et al. 2014

IEEE Trans. Ind. Electron.

144

View full text Add to dashboard Cite

This paper analyzes the dynamics of an offshore boom crane and proposes a high-performance nonlinear controller to drive the system states to track some constructed trajectories. Specifically, by employing Lagrange's method in an attached frame, a dynamic model is obtained for the offshore crane system consisting of the boom and a payload, with specific emphasis on the effect of the vessel's motion on the payload swing. Based on the model, a novel nonlinear control law is designed for the underactuated boom crane, which makes the system states track some planned trajectories successfully, even in the presence of persistent disturbance in harsh sea conditions. The stability of the designed closed-loop system is proven by Lyapunov techniques. Simulation and experimental results are included to demonstrate that the proposed control method significantly reduces the impact of the disturbance in harsh sea conditions.

show abstract

Feedback and feedforward control law for a ship crane with Maryland rigging system

Cited by 28 publications

References 1 publication

A Novel Approach To Anti-Sway Control For Marine Shipboard Cranes

A Novel Approach To Anti-Sway Control For Marine Shipboard Cranes

Active pendulation control system for the underactuated davit

Dynamics Analysis and Nonlinear Control of an Offshore Boom Crane

Contact Info

Product

Resources

About