Model-free anti-swing control of complex-shaped payload with offshore floating cranes and a large number of lift wires

摘要

Being one of the most commonly used offshore operations, offshore lifting operations become increasingly challenging due to the gradually growing size and weight of payloads. The research on automatic control in lifting operations, e.g., anti-swing control and heave compensation, only considers simple-shaped payloads, such as lumped-mass rigid points. However, the sizes and orientations of many structures cannot be neglected. To lift heavy and large-scale payloads, larger and higher cranes are required. Alternatively, it is possible to share the total loads by enhancing the number of lift wires that may limit the tension on each lift wire. However, the complicated configuration introduces significant complexity into the design of the automatic anti-swing algorithm, especially to the control allocation module. This paper performs a preliminary study on the anti-swing control of a complex-shaped suspended payload lift using a floating crane vessel and a large number of lift wires. Inspired by the knowledge of inverse dynamics and range-based localization, a general model-free anti-swing control scheme is proposed. The controller has a simple form without considering statespace equations, but it can reduce the pendular payload motion regardless of the detailed system configuration. An offshore wind turbine tower-nacelle-rotor preassembly installation using floating crane vessel is adopted as a case study to verify the performance of the proposed control strategy.