A TAGLINE PROPORTIONAL-DERIVATIVE CONTROL FOR ANTI-SWING MOTION OF A LOAD SUSPENDED BY A FLOATING CRANE

摘要

This paper presents a tagline proportional-derivative (PD)rncontrol method for suppressing swing motion of a heavyrnload suspended by a floating crane in an oceanrnenvironment. The tagline mechanism, which is connectedrnbetween the floating crane and the heavy load, is appliedrnto the floating crane. The winch, mounted on the deck ofrnthe floating crane, is used to control the tension of therntagline. A PD control algorithm is applied to generate therncontrol force of the winch. Swing angle feedback of thernPD control is supplied by the encoder attached at thernboom tip of the floating crane. To demonstrate thernperformance of the tagline control method, numericalrnsimulations are performed on a nonlinear, six-dimensionalrnmathematical model of the floating crane and the heavyrnload. The mathematical model of the floating crane isrnconstructed to consider both the three-degrees-of-freedomrnprincipal of the floating crane and the heavy load, basedrnon multibody system dynamics. The numerical andrnexperimental simulation results are compared using arn1/100th scale model of the floating crane in the modelrnbasin. The results of the numerical simulation andrnexperiment show that the tagline PD control methodrnsuppresses the swing motion of the load.