Review of antiswing control of shipboard cranes

Cao, Yuchi; Li, Tieshan

doi:10.1109/jas.2020.1003024

Cited by 41 publications

(11 citation statements)

References 71 publications

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“…Due to the complexity of their implementation and the requirement for detailed modelling of the crane-ship system, it is not apparent how to apply these systems to actual marine cranes in use in industry, which will experience six degrees-of-freedom for the ship itself, along with often at least five or more degreesof-freedom for the crane, not to mention actuator dynamics, double pendulum effects, and other complexities. These same conclusions were reached by Cao and Li [CL20] in their 2020 review of shipboard anti-sway control, where they also found that consideration of high-DOF cranes is lacking. In addition, Cao and Li found that, as was identified by Ramli et al, few researchers consider the effect of the double pendulum dynamics between the hook and payload.…”

Section: Anti-sway Control In the Literaturesupporting

confidence: 61%

“…A significant concern with the anti-sway systems developed in the literature is the lack of consideration for real-time input from an operator; as was also identified by Cao and Li [CL20], few researchers even consider a time-varying payload trajectory, let alone how an operator would interact with the system. While consideration of operator commands has been seen in the design of input shapers, which shape the operator's commands using a delay based on the natural frequency of the system, they are they are not commonly seen in the shipboard crane anti-sway literature, especially for high-DOF cranes.…”

Section: The Human Factors Of Anti-sway Controlmentioning

confidence: 99%

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Real-Time Operator-in-the-Loop Anti-Sway Control for Shipboard Cranes

Martin¹

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Shipboard cranes play an important role in many maritime operations, however unexpected payload sway due to the motion of the ship or external disturbances creates a hazardous environment for deck personnel. To improve deck safety, the development of anti-sway control systems to reduce undesired payload motion has been of great interest to researchers; however, existing literature has focused primarily on sophisticated nonlinear control strategies that utilize simplified dynamic models, and the consideration of anti-sway control on high-fidelity, high-degree-of-freedom (DOF) crane/ship dynamic systems is lacking. Additionally, anti-sway control systems in the literature are typically developed with little consideration of real-time operatorin-the-loop interaction, and rarely are the human factors of shipboard crane anti-sway The author acknowledges the support and feedback from Dr. Rishad Irani of the Multi-Domain Laboratory at Carleton University, as well as the support of family, friends and peers throughout the development of this work. The author acknowledges the financial support of the Natural Sciences and Engineering Research Council of Canada (NSERC) and the Ontario Graduate Scholarship (OGS). The author also acknowledges the in-kind contribution of ShipMo3D by Dynamic Systems Analysis Ltd. (DSA), as well as the Department of Mechanical and Aerospace Engineering and the School of Information Technology at Carleton University for equipment infrastructure. v Preface The work presented in this dissertation was performed by myself, under the supervision of Dr. Rishad Irani. The subject area was suggested by Dr. Irani, who provided direction and guidance during the course of the project. A version of Chapter 2 has been published [MI21b]. I was the lead investigator and responsible for all major areas of concept formation, investigation, analysis, and manuscript composition. Dr. Irani provided contributions to concept formation and manuscript edits. A version of Chapter 3 has been published [MI21a]. I was the lead investigator and responsible for all major areas of concept formation, investigation, analysis, and

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Section: Anti-sway Control In the Literaturesupporting

confidence: 61%

Section: The Human Factors Of Anti-sway Controlmentioning

confidence: 99%

Real-Time Operator-in-the-Loop Anti-Sway Control for Shipboard Cranes

Martin¹

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“…The study of the movement of loads with distributed mass, for example, in the form of a beam, is of much greater interest. Such problems in flat design are considered in works [38][39][40][41].…”

Section: Literature Review and Problem State-mentmentioning

confidence: 99%

Spatial transportation of the beam on a bifilar fastening

Stadnik¹,

Podlesny²,

Kaporovych³

et al. 2022

FME Transactions

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The complex problem of the spatial motion of the "trolley-beam" mechanical system is investigated. Three stages are considered: 1) movement of the beam on a bifilar suspension to the movable trolley; 2) movement of the beam after the breakage of one branch of the suspension; 3) movement of the beam after the breakage of the second branch of the suspension. The study was carried out by creating mathematical models for each stage of the system movement and then conducting a numerical experiment using computer algebra. The tension of the ropes is calculated at the first and second stages of the system movement. Their extreme values are determined. The obtained results will be used in the further study of the system to reduce the tension of the rope and oscillation amplitude and to prevent accidents.

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“…For a DP system to be effective, it is required to counteract the effect of external environmental forces such as wind and waves [2][3][4][5]. While attempting the positioning task, a DP system is subjected to a wide variety of uncertainty [6], such as the crane load [7]. For construction vessels such as dredgers, heavy-lift vessels, and pipe-laying vessels, additional uncertainties arise: in particular, uncertainties from unmodelled dynamics of the propulsion system and unmodelled forces become crucial during offshore heavy lift operation (see Figure 1).…”

Section: Introductionmentioning

confidence: 99%

Robustifying Dynamic Positioning of Crane Vessels for Heavy Lifting Operation

Roy

Godjevac³

et al. 2021

IEEE/CAA J. Autom. Sinica

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Construction crane vessels make use of dynamic positioning (DP) systems during the installation and removal of offshore structures to maintain the vessel's position. Studies have reported cases of instability of DP systems during offshore operation caused by uncertainties, such as mooring forces. DP 'robustification' for heavy lift operations, i.e. handling such uncertainties systematically and with stability guarantees, is a long-standing challenge in DP design. A new DP method, composed by an observer and a controller, is proposed to address this challenge, with stability guarantees in the presence of uncertainties. We test the proposed method on an integrated cranevessel simulation environment, where the integration of several subsystems (winch dynamics, crane forces, thruster dynamics, fuel injection system etc.) allow a realistic validation under a wide set of uncertainties.

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Review of antiswing control of shipboard cranes

Cited by 41 publications

References 71 publications

Real-Time Operator-in-the-Loop Anti-Sway Control for Shipboard Cranes

Real-Time Operator-in-the-Loop Anti-Sway Control for Shipboard Cranes

Spatial transportation of the beam on a bifilar fastening

Robustifying Dynamic Positioning of Crane Vessels for Heavy Lifting Operation

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