A Heave Compensation System for Offshore Crane

해상 크레인의 상하동요 보상 시스템의 능동제어

Seong, Hyung-seok;Choi, Hyeong-sik;Jeong, Seong-hoon;Lee, Sang-ki

  • Received : 2016.05.16
  • Accepted : 2016.06.22
  • Published : 2016.06.30


This paper introduces a heave compensation system for offshore crane when it gets unexpected disturbances and external force. The dynamic model consists of crane assumed to be the rigid body, hydraulic driven winch, elastic rope and payload. To keep the payload from moving up and down, PD control algorithm is applied. By using the control, the oscillating amplitude of the payload is reduced. Also by using the estimated values involved with time-delay, the relative motion of payload in heave direction is dramatically shortened. This paper shows using the control algorithm with estimated value having time-delay 0.1 second is enough to heave compensation system.


Active heave compensation system;Nonlinear system;Offshore crane;Proportional-derivative control;Time-delay


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Supported by : 한국산업기술진흥원