Cargo Pendulation Reduction on Ship-Mounted Cranes Via Boom-Luff Angle Actuation

The wave-induced motions of a ship can cause large pendulations of cargo being hoisted by a ship-mounted crane. In this paper, the authors show that controlling the boom-luff angle can reduce these pendulations significantly. A planar pendulum with a rigid massless cable and massive point load is us...

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Bibliographic Details
Published in:Journal of vibration and control 2001-11, Vol.7 (8), p.1253-1264
Main Authors: Henry, R.J., Masoud, Z.N., Nayfeh, A.H., Mook, D.T.
Format: Article
Language:English
Subjects:
Cranes & hoists
Motion control
Physics
Ships
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Summary:The wave-induced motions of a ship can cause large pendulations of cargo being hoisted by a ship-mounted crane. In this paper, the authors show that controlling the boom-luff angle can reduce these pendulations significantly. A planar pendulum with a rigid massless cable and massive point load is used to model the system. A control law using delayed position feedback is developed, and the controlled system is simulated on a computer using the full nonlinear equations of motion. The computer simulation results are verified experimentally using a three-degree-of-freedom ship-motion simulation platform and a 1/24th scale model of a T-ACS crane.
ISSN:1077-5463
1741-2986
DOI:10.1177/107754630100700807