Journal of Navigation and Port Research (한국항해항만학회지)

Korean Institute of Navigation and Port Research (한국항해항만학회)
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Load Position and Residual Vibration Control of an Offshore Crane System Based on Input-Output Linearization Theory

  • Le, Nhat-Binh (Graduate School, Department of Mechanical System Engineering, Pukyong National University) ;
  • Lee, Kwon-Soon (Department of Electric Engineering, Dong-A University) ;
  • Kim, Young-Bok (Department of Mechanical System Engineering, Pukyong National University)
  • Received : 2017.06.09
  • Accepted : 2017.10.23
  • Published : 2017.10.31
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Abstract

In the offshore crane system, the requirements on the operating safety are extremely high due to many external factors. Rope extension is one of the factors producing vertical vibration of load. In this study, the load is carried by the motor-winch actuator control and the rope is modeled as a mass-damper-spring system. To control the load position and suppress the vertical vibration of the load, a control system based on input-output linearization method is proposed. By the simulation and experiment results with pilot crane model, the effectiveness of proposed control method is evaluated and verified.

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References

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