Observer design for boom cranes with double-pendulum effect

Neupert, J.; Heinze, T.; Sawodny, Oliver; Schneider, Klaus

doi:10.1109/cca.2009.5281042

Cited by 7 publications

(2 citation statements)

References 6 publications

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“…In this situation, the single pendulum model is insufficient to capture the complex dynamics of the crane systems. Therefore, double pendulum models have been derived for various cranes, including modeling of a tower crane [22] , modeling of an overhead crane [23][24][25] , modeling of a boom crane [26,27] by the Lagrangian method, and modeling of a bridge crane [28][29][30] using the Kane's method. To obtain a more accurate representation of the double pendulum cranes, some researchers took consideration of other factors′ effect in their models.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

et al. 2021

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Crane operations might be very dangerous in rough sea conditions due to unexpected payload swing induced by ship excitations. In this paper, a novel Cable-Driven Inverted Tetrahedron Mechanism (CDITM) is presented to suppress the payload swing for sake of the workers' safety. The CDITM retrofitting on an offshore crane is simplified as a constrained pendulum with a moving base, and its equations of motion are obtained by Newton Euler Method. Next, three-dimensional dynamic analysis is performed using Matlab/Simulink, and the influence law of ship excitations, tagline tension, crane pose and CDITM configuration on the payload swing are investigated. Finally, through comparative experimental verification, it is found that the simulation tendencies of in-plane swing follows the experiment curves quite well, and the variations between the simulation and experiment results are acceptable. Thus the dynamic modeling and analysis of CDITM are verified. The theoretical and experimental results are fundamental and valuable for the engineering application of CDITM in the offshore industries. INDEX TERMS Offshore cranes; anti-swing system; payload swing suppression; dynamics This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.

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Section: Introductionmentioning

confidence: 99%

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

et al. 2021

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“…The swing model of the hoisted object in spheroidal coordinates was established to study the effects of the boom rotation and pitch rate on the motion of the hoisted object by Neupert [10]. The dynamic response of the hoisting system and its control method was studied by Qian [11]. In these studies, the actual calculation of the hoisting process is estimated by an safety factor and the movements and forces cannot be obtain accurately under the given wave load, sea current load, wind load and ship motion [12].…”

Section: Introductionmentioning

confidence: 99%

Modelling, Simulation and Analysis of the Crane Ship Hoisting System

Xu¹,

Li²,

Wang³

et al. 2018

Proceedings of the 2018 International Conference on Mechanical, Electronic, Control and Automation Engineering (MECAE 2018)

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Adams, Simulink, and analytics combined method is created to predict the hoisting operation of crane ships. The flexibility of the boom can be modelled in Adams with a mesh file created by Ansys APDL and 3D visualization can be fulfilled in Adams. With this method, the model of "Offshore Oil 201" is created and the effects of the environment and operation parameters are analyzed. The effect of the environmental interference is considerable, particularly the effect of the wave height. The effect of the pitch rate and rotational speed are both considerable, the pitch rate effects on the swing angle in XOZ plane more than that in YOZ plane, and the rotational speed effect more on the angle in YOZ plane. The sling length is also another point to be considered in operation. The results of the sea trail are compared with the simulation results, the error is less than 5%.

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Vision Method for Rope Angle Swing Measurement for Overhead Travelling Cranes – Validation Approach

Hyla¹,

Szpytko²

2013

Communications in Computer and Information Science

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Observer design for boom cranes with double-pendulum effect

Cited by 7 publications

References 6 publications

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

Modeling and Analysis of Offshore Crane Retrofitted With Cable-Driven Inverted Tetrahedron Mechanism

Modelling, Simulation and Analysis of the Crane Ship Hoisting System

Vision Method for Rope Angle Swing Measurement for Overhead Travelling Cranes – Validation Approach

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