Nonlinear feedback control of container crane mounted on elastic foundation with the flexibility of suspended cable

Abstract

This study constructs an original mathematical model of a shipboard container crane and proposes a nonlinear controller for the complicated operation duties in which the viscoelasticity of seawater and the flexibility of handling cable are taken into account. By using two inputs, namely, the pulling force of the trolley and the torque of the hoist, the controller simultaneously drives six outputs, including trolley motion, cable length, container swing, axial container oscillation, ship roll, and ship heave. The effects of elasticity factors and wave excitations on system performance are also investigated. The simulation and experiment results reveal that the controlled system responses remain stable and consistent despite disturbances.

Keywords

Feedback linearization system modelling nonlinear control ship-mounted crane anti-swing

Get full access to this article

View all access options for this article.

References

Cha

Roh

Lee

(2010) Dynamic response simulation of a heavy cargo suspended by a floating crane based on multibody system dynamics. Ocean Engineering 37(14–15): 1273–1291.

Chin

Nayfeh

Mook

(2001) Dynamics and control of ship-mounted cranes. Journal of Vibration and Control 7(6): 891–904.

Ellermann

Kreuzer

(2003) Nonlinear dynamics in the motion of floating cranes. Multibody System Dynamics 9(4): 377–387.

Erneux

Nagy

(2007) Nonlinear stability of a delayed feedback controlled container crane. Journal of Vibration and Control 13(5): 603–616.

Henry

Masoud

Nayfeh

Mook

(2001) Cargo pendulation reduction on ship-mounted cranes via boom-luff angle actuation. Journal of Vibration and Control 7(8): 1253–1264.

Kimiaghalam

Homaifar

Bikdash

Hunt

(2002) Feedforward control law for a shipboard crane with Maryland rigging system. Journal of Vibration and Control 8(2): 159–188.

Masoud

Nayfeh

(2003) Sway reduction on container cranes using delayed feedback controller. Nonlinear Dynamics 34(3–4): 347–358.

Masoud

Nayfeh

Mook

(2004) Cargo pendulation reduction of ship-mounted cranes. Nonlinear Dynamics 35(3): 299–311.

Messineo

Serrani

(2009) Offshore crane control based on adaptive external models. Automatica 45(11): 2546–2556.

10.

Nayfeh

Baumann

(2008) Nonlinear analysis of time-delay position feedback control of container cranes. Nonlinear Dynamics 53(1–2): 75–88.

11.

Rauh A, Gebhardt J and Aschemann H (2013) Guaranteed stabilizing control strategies for boom cranes in marine applications. In: 2nd International Conference on Control and Fault-Tolerant Systems, Nice, France, 9–11 October 2013, pp. 733–738. Nice: IEEE Publishing.

12.

Spathopoulos

Fragopoulos

(2004) Pendulation control of an offshore crane. International Journal of Control 77(7): 654–670.

13.

Tuan

Kim

Lee

Lim

Nho

(2014a) Second-order sliding mode control of a 3D overhead crane with uncertain system parameters. International Journal of Precision Engineering and Manufacturing 15(5): 811–819.

14.

Tuan

Lee

Moon

(2014b) Partial feedback linearization and sliding mode techniques for 2D crane control. Transactions of the Institute of Measurement and Control 36(1): 78–87.

15.

Tuan LA, Lee SG, Ko DH and Nho LC (2013) Combined control with sliding mode and partial feedback linearization for three-dimensional overhead cranes. International Journal of Robust and Nonlinear Control. Epub ahead of print 1 August 2013. DOI: 10.1002/rnc.3061.

16.

Wen B, Homaifar A, Bikdash M and Kimiaghalam B (1999) Modeling and optimal control design of shipboard crane. In: the American Control Conference, San Diego, California, USA, 2–4 June 1999, pp. 593–597. San Diego: IEEE Publishing.