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Cargo Pendulation Reduction on Ship-Mounted Cranes Via Boom-Luff Angle Actuation

Department of Engineering Science and Mechanics, MC 0219, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA

Z.N. Masoud

Department of Engineering Science and Mechanics, MC 0219, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA

A.H. Nayfeh

Department of Engineering Science and Mechanics, MC 0219, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA

D.T. Mook

Department of Engineering Science and Mechanics, MC 0219, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA

The wave-induced motions of a ship can cause large pendulations of cargo being hoisted by a ship-mounted crane. In this paper, the authors show that controlling the boom-luff angle can reduce these pendulations significantly. A planar pendulum with a rigid massless cable and massive point load is used to model the system. A control law using delayed position feedback is developed, and the controlled system is simulated on a computer using the full nonlinear equations of motion. The computer simulation results are verified experimentally using a three-degree-of-freedom ship-motion simulation platform and a 1/24th scale model of a T-ACS crane.

Key Words: Crane control • ship-mounted cranes • time-delayed feedback

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