Online trajectory planning for three-dimensional offshore boom cranes

Lu, Biao; Lin, Jingzheng; Fang, Yongchun; Hao, Yunsong; Cao, Haixin

doi:10.1016/j.autcon.2022.104372

Cited by 15 publications

(6 citation statements)

References 29 publications

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“…The method of electronic payload anti-swing mainly relies on modern control theory, which mainly includes open loop and closed loop control. Many applications are trajectory planning [12,13], adaptive control [14][15][16], input shaping technology [7,[17][18][19], sliding mode control [20][21][22], robust control [23], energy forming control [24], and so on. Aiming at the problem that the base of the marine crane is disturbed by the ship motion, Fang et al [25] designed a nonlinear controller based on sliding mode control.…”

Section: Introductionmentioning

confidence: 99%

Active damping methods to suppress the payload swing by a 3‐degree of freedom cable‐driven parallel robot

Wang

Jin

et al. 2023

Asian Journal of Control

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Marine cranes play an important role in many hoisting scenes. However, due to the ship motion excitation and crane operation, the payload swing is unavoidable, hence putting the operators in danger. Thus, this paper proposes two active damping methods to suppress the payload swing by a 3‐DOF cable‐driven parallel robot (CDPR). First, the structure of the 3‐DOF CDPR is briefly introduced. Then, the dynamic model of the system is modeled as a constrained spherical pendulum with moving base excitations. Meanwhile, inspired by the air damping phenomenon, two active damping methods are presented to damp the payload swing naturally and smoothly. Furthermore, the payload swing under ship motion excitation and external hitting disturbances is analyzed, the influence mechanism of system damping parameters on the payload anti‐swing is discussed, and the robustness of the proposed damping methods is verified. By theoretical analysis and numerical simulations, some interesting discoveries are revealed: (1) the proposed damping methods can effectively suppress the big offset of payload swing angle inducing by external hitting disturbance, but the system might reach a dynamic equilibrium with a tilting hoist cable; (2) the phenomenon of “off‐center spherical pendulation” might be induced by improper setting of the damping parameters.

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Section: Introductionmentioning

confidence: 99%

Active damping methods to suppress the payload swing by a 3‐degree of freedom cable‐driven parallel robot

Wang

Jin

et al. 2023

Asian Journal of Control

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“…However, it's crucial to highlight that almost all these studies have overlooked the dynamics of the floating structure and the corresponding fluidstructure interactions, which significantly impact crane response. Instead, they have characterized the floating structure motion using a simplified sinusoidal base excitation, as seen in works such as [5][6][7][8]. These simplified representations fall short of capturing the practical complexities and nonlinearities of real-world scenarios.…”

Section: Introductionmentioning

confidence: 99%

“…The intricate dynamics of the system and the presence of disturbances have made it a tough nut to crack, leading to a relatively restricted number of published outcomes [4]. Different control methods have been proposed to date; refer to, for instance, [5][6][7][8]. Several studies have delved into the modeling and control of offshore crane systems amid wave motion and external disturbances [3,9].…”

Section: Introductionmentioning

confidence: 99%

“…The automatic control of offshore cranes has been a subject of significant research effort in recent years, yet it remains a challenging area due to the complex system dynamics and disturbances, resulting in a relatively limited number of published results [4]. Only a few control methods have been proposed to date; see, for example [5][6][7][8][10][11][12]. An online trajectory planning approach is designed to address boom luffing/rotating and rope hoisting motions in a 3-dimensional offshore boom crane system with superior anti-swing capabilities [5].…”

Section: Introductionmentioning

confidence: 99%

“…Only a few control methods have been proposed to date; see, for example [5][6][7][8][10][11][12]. An online trajectory planning approach is designed to address boom luffing/rotating and rope hoisting motions in a 3-dimensional offshore boom crane system with superior anti-swing capabilities [5]. The control problem of a 5-DOF offshore crane system operating in a 3D space under persistent ship yaw and roll perturbations were addressed in [7], where an output feedback regulation control approach was proposed to achieve asymptotic stability results through rigorous theoretical analysis [7].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

On Investigating Dynamic Coupling in Floating Platform and Overhead Crane Interactions: Modeling and Control

Al-Solihat,

Saaideh,

Al-Rawashdeh

et al. 2023

Preprint

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This study introduces a comprehensive model addressing the dynamic interaction between a crane and platform in the presence of realistic surge-roll-heave movements induced by ocean waves. While the motion of the payload is ascertainable, the surge-roll-heave motions of the floating platform are considered unknown. Consequently, we proposed a control design strategy integrating a backstepping controller and a high-gain observer. The primary objectives of this design are to accurately track the desired (linear) trajectories of the cart position and mitigate its swing (angular) motion. Moreover, the proposed controller is designed to handle challenges such as unknown dynamic friction, dynamic coupling, and external disturbances, all while ensuring dynamic. The extended high-gain observer is crucial in estimating dynamic states and external disturbances. Through simulation, we validate the effectiveness of our model-based control approach, demonstrating its robust performance in the face of unknown nonlinearities and disturbances caused by wave motion.

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Radical Basis Neural Network Based Anti-swing Control for 5-DOF Ship-Mounted Crane

Li,

Chuanjing,

Liu

2024

Communications in Computer and Information Science

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Online trajectory planning for three-dimensional offshore boom cranes

Cited by 15 publications

References 29 publications

Active damping methods to suppress the payload swing by a 3‐degree of freedom cable‐driven parallel robot

Active damping methods to suppress the payload swing by a 3‐degree of freedom cable‐driven parallel robot

On Investigating Dynamic Coupling in Floating Platform and Overhead Crane Interactions: Modeling and Control

Radical Basis Neural Network Based Anti-swing Control for 5-DOF Ship-Mounted Crane

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