Dynamic analysis and robust control of ship-mounted crane with multi-cable anti-swing system

In this study, a novel fuzzy sliding mode anti-sway controller (FSMASC) is proposed by combining the in-plane angle and the out-plane angle with the fuzzy sliding mode technology, with the aim of addressing the existing problems facing simple control algorithms, low control accuracy of ship-mounted crane by the mechanical anti-sway method. Moreover, an improved reaching law adaptive sliding mode cooperative controller (ASMCC-IRL) is developed by integrating the cooperative motion between the anti-sway cables with the adaptive sliding mode technology, with the aim of addressing the ineffective cooperative motion between the anti-sway cable in the multi-cable system. First, a model of the ship-mounted crane and a dynamic model of the multi-cable system are built by employing the design prototype of the 45-ton ship-mounted crane on the 27,000-ton multi-purpose ship of COSCO Shipping Group. Subsequently, the FSMASC is proposed to suppress the swing of the load, and the ASMCC-IRL is developed to control the cooperative motion between anti-sway cables. Lastly, the control effectiveness of the FSMASC and the ASMCC-IRL is verified through simulation experiments. As indicated by the simulation results, compared with the scenario without the anti-sway control, the in-plane angle and out-plane angle of the FSMASC decrease by over 75%. Compared with the augmented PD controller (APDC), the error control performance of the ASMCC-IRL is enhanced by over 77.5%, and the convergence speed increases by over 50%.

• Record URL:
  • https://doi.org/10.1016/j.oceaneng.2023.116376
• Record URL:
  • http://www.sciencedirect.com/science/article/pii/S0029801823027609
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00298018
• Supplemental Notes:
  • © 2023 Elsevier Ltd. All rights reserved. Abstract reprinted with permission of Elsevier.
• Authors:
  • Zhao, Tingqi
  • Sun, Maokai
  • Wang, Shenghai
  • Han, Guangdong
  • Wang, Haoran
  • Chen, Haiquan
  • Sun, Yuqing
• Publication Date: 2024-1-1

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References; Tables;
• Pagination: 116376
• Serial:
  • Ocean Engineering
  • Volume: 291
  • Issue Number: 0
  • Publisher: Pergamon
  • ISSN: 0029-8018
  • EISSN: 1873-5258
  • Serial URL: http://www.sciencedirect.com/science/journal/00298018

Subject/Index Terms

• TRT Terms: Control systems; Cranes; Dynamic models; Ships; Sliding mode control; Swaying
• Subject Areas: Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01903702
• Record Type: Publication
• Files: TRIS
• Created Date: Dec 29 2023 9:32AM