Proceedings of the Korean Institute of Navigation and Port Research Conference (한국항해항만학회:학술대회논문집)

Korean Institute of Navigation and Port Research (한국항해항만학회)
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A Study on Load Vibration Control in Crane Operating

  • Le, Nhat-Binh (Department of Mechanical System Engineering, Pukyong National University) ;
  • Lee, Dong-Hun (Department of Mechanical System Engineering, Pukyong National University) ;
  • Kim, Tae-Wan (Department of Mechanical System Engineering, Pukyong National University) ;
  • Kim, Young-Bok (Department of Mechanical System Engineering, Pukyong National University)
  • Published : 2017.11.02
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Abstract

In the offshore crane system, the requirements on the operating safety are extremely high due to many external factors. This paper describes a model for studying the dynamic behavior of the offshore crane system. The obtained model allows to evaluate the fluctuations of the load arising from the elasticity of the rope. Especially, in this paper, the authors design control system in which just winch rotation angle and rope tension are used without load position information. The controller design based on input-output feedback linearization theory is presented which can handle the effect of the elasticity of the rope and track the load target trajectory input. Besides that, a full order observer is designed to estimate unknown states. Finally, By the experiment results, the effectiveness of proposed control method is evaluated and verified.

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