Abstract
This article analyzes the dynamics of a ship-mounted crane and establishes the mathematical model of the load. Based on the mathematical model, the time-delayed feedback control algorithm is propos...
Highlights
Ship-mounted cranes, which transfer loads using a rotary crane attached to the ship’s deck, are widely used to transfer cargos from ships to the harbor, or between two ships
The ship-mounted crane is more difficult to operate under the influence of the ship sway
Ship sway is generated by disturbances such as waves and winds, as well as movements of the load
Summary
Ship-mounted cranes, which transfer loads using a rotary crane attached to the ship’s deck, are widely used to transfer cargos from ships to the harbor, or between two ships. To simplify the nonlinear system into a linear system and optimize the process of stability analysis, this article proposes a time-delay feedback anti-swing control algorithm of the ship-mounted crane. This article presents a novel algorithm, which applied the combination of the Lambert W function[19] and Newton–Raphson algorithm to analyze the stability of ship-mounted crane This method simplifies the calculation process and directly solves differential equations’ rightmost characteristic roots, and further judging the system stability. The damping of the time-delay control system of ship-mounted crane cannot be directly obtained from equation (11), but its value can be judged by the real part of the largest characteristic root Re(lN ). The co-simulation and experimental results show that the time-delay feedback control law is an effective technique of eliminating cargo vibration for ship-mounted cranes
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