Point-to-point motion control for flexible crane systems working in the deep sea

Abstract

At present, marine resources, especially the deep-sea resources, are becoming more and more important in resource exploitation globally, and hence, widely used deep-sea cranes are playing essential roles. For such systems, the bridge frames and trolleys are set up above the water, while payloads are transported under the water. In this underwater situation, there exist hydrodynamic forces such as complicated disturbances to the crane systems, making the payload vibration and rope flexibility more obvious. For the sake of improving working efficiency, considering the constraints of all the state variables, an anti-vibration trajectory is designed for the trolley motion, which can not only ensure trolley positioning but also suppress the flexible payload’s vibrations. Then, the state variables are constrained within preset safety ranges. Finally, numerical simulation results prove the satisfactory performance of the designed method.

A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters

“…During transportation, the trolley in the bridge crane system is subject to various interference from the outside world, which may cause the inevitable swinging of the load, unsatisfying working efficiency of the crane system, the possible rolling-off of the load, and ultimately leading to possible serious safety accidents. Therefore, it is of great theoretical significance and engineering practical value to deliberate the control method of the underactuated system so as to achieve the accurate positioning of the bridge crane and minimize the load swing range [4][5][6][7][8][9][10].…”