Crab position tracking and lifting weight anti-sway control for an off-shore container crane on sea

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Journal of Vibration and Shock ›› 2018, Vol. 37 ›› Issue (11) : 207-215.

SUN You-gang 1 2 DONG Da-shan1 QIANG Hai-yan 1 2 TENG Yuan-yuan1

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Abstract

An offshore container crane (OCC) can perform loading and unloading containers for a large container-ship anchored in deep sea to solve problems of port congestion and large ships being unable to dock due to smaller water-depth of port. However, due to wave-induced movements of a ship, the crane’s control system needs to be redesigned to ensure the load transfer on sea. Here, the nonlinear dynamic equations of an OCC system subjected to ship motions were derived. Then a novel nonlinear controller was deigned to realize the crab position tracking and lifting weight anti-sway control simultaneously irrespective of ship motions and parameters perturbation. Lyapunov method was utilized to prove the stability of the proposed control law. Finally, comparing the simulation results and those of tests demonstrated the effectiveness of the proposed method. It was shown that the effects of sea wave excitation on the hoisting and swinging trajectory of containers can be suppressed with the proposed method to ensure the OCC system operation’s efficiency and safety.

Key words

ship motions / dynamics / tracking control / residual sway angle suppression / virtual prototype

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SUN You-gang 1 2 DONG Da-shan1 QIANG Hai-yan 1 2 TENG Yuan-yuan1 . Crab position tracking and lifting weight anti-sway control for an off-shore container crane on sea[J]. Journal of Vibration and Shock, 2018, 37(11): 207-215

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