Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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Suppression of Load Pendulation Using Tagline Control System for Floating Crane

해상 크레인에 의해 인양되는 중량물의 거동 감쇠를 위한 Tagline 제어 시스템

  • Ku, Nam-Kug (Dept. of Naval Architecture and Ocean Engineering, Seoul National Univ.) ;
  • Cha, Ju-Hwan (Dept. of Naval Architecture and Ocean Engineering, Seoul National Univ.) ;
  • Kwon, Jung-Han (Dept. of Naval Architecture and Ocean Engineering, Seoul National Univ.) ;
  • Lee, Kyu-Yuel (Dept. of Naval Architecture and Ocean Engineering, Seoul National Univ.)
  • 구남국 (서울대학교 조선해양공학과) ;
  • 차주환 (서울대학교 조선해양공학과) ;
  • 권정한 (서울대학교 조선해양공학과) ;
  • 이규열 (서울대학교 조선해양공학과)
  • Published : 2009.10.20
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Abstract

This paper describes the control system to suppress the load pendulation using tagline for the floating crane. Dynamic equation of motion of the floating crane and the load is derived using Newton's 2nd law and free body model. The floating crane and the load are assumed that they move in center plane. Each rigid body has 3 DOF (surge, heave, pitch), because it moves in two directions and rotates. Then, this system, which is composed of two rigid bodies, has 6 DOF. The gravitational force, the hydrostatic force, the hydrodynamic force and the tension of the wire rope are considered as external forces, which affect to the floating crane. To suppress the pendulation of the load, the tagline, which connects between the load and the float crane, is applied to the system. The tagline is composed of the spring and the wire rope. Proportional and Derivative control is used as a linear control algorithm. The results of the numerical analysis of the 3,600 ton floating crane show that the tagline system is effective to suppress the load pendulation.

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References

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