Motion Control Strategies for Smart Floating Cranes

Wouter Bentvelsen; Guus Jonathan Gorsse; Niels Bouman; Vincent Bashandy; Vittorio Garofano; Jovana Jovanova

doi:10.1007/978-981-16-2256-4_15

Motion Control Strategies for Smart Floating Cranes

Wouter Bentvelsen^*, Guus Jonathan Gorsse, Niels Bouman, Vincent Bashandy, Vittorio Garofano, Jovana Jovanova

^*Corresponding author for this work

Transport Engineering and Logistics

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Abstract

Floating structures have raised interest in the recent years for different applications, from living and farming at sea to renewable energy production. To support the logistics on the floating structures, floating cranes are necessary and their designs are constantly improved. Increasing developments in the automation industry paved the way for automated crane operations. In this work, motion control of a smart crane is presented with particular attention to the performance under wave motion. In this research, a scaled down, two-dimensional mathematical model of a gantry crane is derived using Lagrangian mechanics and DC motors dynamics. This results in a nonlinear system that is capable of simultaneous traversing and hoisting a container. The system is simulated in MATLAB Simulink environment and a proportional-derivative control and a state feedback control are designed and implemented. Their robustness is explored by modelling sensor behavior, external disturbances and floating platform dynamics. Both control strategies were able to keep stability in a disturbed system. During simulation, the sway angles never exceed 10°. Smaller oscillations occurred using the state feedback control. Therefore, it creates a smoother response compared to the proportional derivative control, which ultimately translates to increased safety, turnover rate and durability of the crane.

Original language	English
Title of host publication	Proceedings of the 2nd World Conference on Floating Solutions, WCFS2020
Editors	Lukasz Piatek, Soon Heng Lim, Chien Ming Wang, Rutger de Graaf-van Dinther
Place of Publication	Singapore
Publisher	Springer
Pages	241-254
ISBN (Electronic)	978-981-16-2256-4
ISBN (Print)	978-981-16-2255-7
DOIs	https://doi.org/10.1007/978-981-16-2256-4_15
Publication status	Published - 2022
Event	2nd World Conference on Floating Solutions, WCFS 2020: Paving the Waves - Virtual, Online, Netherlands Duration: 6 Oct 2020 → 8 Oct 2020

Publication series

Name	Lecture Notes in Civil Engineering
Volume	158
ISSN (Print)	2366-2557
ISSN (Electronic)	2366-2565

Conference

Conference	2nd World Conference on Floating Solutions, WCFS 2020
Country/Territory	Netherlands
City	Virtual, Online
Period	6/10/20 → 8/10/20

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Floating platform
Motion control
PD control
Smart cranes
State feedback control

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1007/978-981-16-2256-4_15

Bentvelsen2022_Chapter_MotionControlStrategiesForSmarFinal published version, 494 KB

Cite this

Bentvelsen, W., Gorsse, G. J., Bouman, N., Bashandy, V., Garofano, V., & Jovanova, J. (2022). Motion Control Strategies for Smart Floating Cranes. In L. Piatek, S. H. Lim, C. M. Wang, & R. D. G. Dinther (Eds.), Proceedings of the 2nd World Conference on Floating Solutions, WCFS2020 (pp. 241-254). (Lecture Notes in Civil Engineering; Vol. 158). Springer. https://doi.org/10.1007/978-981-16-2256-4_15

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author = "Wouter Bentvelsen and Gorsse, {Guus Jonathan} and Niels Bouman and Vincent Bashandy and Vittorio Garofano and Jovana Jovanova",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2nd World Conference on Floating Solutions, WCFS 2020 : Paving the Waves ; Conference date: 06-10-2020 Through 08-10-2020",

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Bentvelsen, W, Gorsse, GJ, Bouman, N, Bashandy, V, Garofano, V & Jovanova, J 2022, Motion Control Strategies for Smart Floating Cranes. in L Piatek, SH Lim, CM Wang & RDG Dinther (eds), Proceedings of the 2nd World Conference on Floating Solutions, WCFS2020 . Lecture Notes in Civil Engineering, vol. 158, Springer, Singapore, pp. 241-254, 2nd World Conference on Floating Solutions, WCFS 2020, Virtual, Online, Netherlands, 6/10/20. https://doi.org/10.1007/978-981-16-2256-4_15

Motion Control Strategies for Smart Floating Cranes. / Bentvelsen, Wouter; Gorsse, Guus Jonathan; Bouman, Niels et al.
Proceedings of the 2nd World Conference on Floating Solutions, WCFS2020 . ed. / Lukasz Piatek; Soon Heng Lim; Chien Ming Wang; Rutger de Graaf-van Dinther. Singapore: Springer, 2022. p. 241-254 (Lecture Notes in Civil Engineering; Vol. 158).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Motion Control Strategies for Smart Floating Cranes

AU - Bentvelsen, Wouter

AU - Gorsse, Guus Jonathan

AU - Bouman, Niels

AU - Bashandy, Vincent

AU - Garofano, Vittorio

AU - Jovanova, Jovana

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2022

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N2 - Floating structures have raised interest in the recent years for different applications, from living and farming at sea to renewable energy production. To support the logistics on the floating structures, floating cranes are necessary and their designs are constantly improved. Increasing developments in the automation industry paved the way for automated crane operations. In this work, motion control of a smart crane is presented with particular attention to the performance under wave motion. In this research, a scaled down, two-dimensional mathematical model of a gantry crane is derived using Lagrangian mechanics and DC motors dynamics. This results in a nonlinear system that is capable of simultaneous traversing and hoisting a container. The system is simulated in MATLAB Simulink environment and a proportional-derivative control and a state feedback control are designed and implemented. Their robustness is explored by modelling sensor behavior, external disturbances and floating platform dynamics. Both control strategies were able to keep stability in a disturbed system. During simulation, the sway angles never exceed 10°. Smaller oscillations occurred using the state feedback control. Therefore, it creates a smoother response compared to the proportional derivative control, which ultimately translates to increased safety, turnover rate and durability of the crane.

AB - Floating structures have raised interest in the recent years for different applications, from living and farming at sea to renewable energy production. To support the logistics on the floating structures, floating cranes are necessary and their designs are constantly improved. Increasing developments in the automation industry paved the way for automated crane operations. In this work, motion control of a smart crane is presented with particular attention to the performance under wave motion. In this research, a scaled down, two-dimensional mathematical model of a gantry crane is derived using Lagrangian mechanics and DC motors dynamics. This results in a nonlinear system that is capable of simultaneous traversing and hoisting a container. The system is simulated in MATLAB Simulink environment and a proportional-derivative control and a state feedback control are designed and implemented. Their robustness is explored by modelling sensor behavior, external disturbances and floating platform dynamics. Both control strategies were able to keep stability in a disturbed system. During simulation, the sway angles never exceed 10°. Smaller oscillations occurred using the state feedback control. Therefore, it creates a smoother response compared to the proportional derivative control, which ultimately translates to increased safety, turnover rate and durability of the crane.

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KW - Motion control

KW - PD control

KW - Smart cranes

KW - State feedback control

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AN - SCOPUS:85113241651

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PB - Springer

CY - Singapore

T2 - 2nd World Conference on Floating Solutions, WCFS 2020

Y2 - 6 October 2020 through 8 October 2020

ER -

Motion Control Strategies for Smart Floating Cranes

Abstract

Publication series

Conference

Bibliographical note

Keywords

UN SDGs

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