Motion control strategies for smart floating cranes

W. Bentvelsen, G.J. Gorsse, N. Bouman, V.A. Bashandy, V. Garofano, J. Jovanova

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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 float- ing structures, floating cranes are necessary and their designs are constantly improved. In- creasing developments in the automation industry paved the way for automated crane opera- tions. 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 math- ematical model of a gantry crane is derived using Lagrangian mechanics and DC motors dy- namics. This results in a nonlinear system that is capable of simultaneous traversing and hoist- ing 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 degrees. Smaller oscillations occurred us- ing the state feedback control. Therefore, it creates a smoother response compared to the pro- portional derivative control, which ultimately translates to increased safety, turnover rate and durability of the crane.
Original languageEnglish
Title of host publicationProceedings of the 2nd World Conference on Floating Solutions 2020, WCFS 2020
Subtitle of host publicationPaving the Waves
EditorsLukasz Piątek, Rutger de Graaf-van Dinther, Lim Soon Heng, Chien Ming Wang
PublisherBlue21
Pages258-271
Publication statusPublished - 2020
EventWCFS 2020: 2nd World Conference on Floating Solutions (Online): Paving the Waves - Rotterdam, Netherlands
Duration: 6 Oct 20208 Oct 2020

Conference

ConferenceWCFS 2020: 2nd World Conference on Floating Solutions (Online)
CountryNetherlands
CityRotterdam
Period6/10/208/10/20

Keywords

  • Motion control
  • Smart cranes
  • Floating platform
  • State feedback control
  • PD control

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