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

Abstract

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%.