조로만, 노명일, 함승호, "해상 작업을 위한 다관절 크레인의 좌우 동요 저감 설계에 관한 연구", 2017년도 대한조선학회 춘계학술발표회, 부산, pp. 238-239, 2017.04.19-20
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|Abstract||Ship-mounted cranes are widely used in transportation and installation of heavy payloads on the seabed. It needs to meet rigorous requirements for efficiency and safety in severe sea conditions, and the unexpected motion of the crane due to sea waves makes it even harder to achieve the requirements. To prevent this, anti-sway control is used to minimize the motion of suspended payloads regardless of the ship’s motion. It is proposed here to use the adaptive control technique to control the sway motion of a knuckle boom crane. Using the augmented formulation for multibody systems dynamics, a nonlinear model of a knuckle boom crane system with a flexible cable mounted on the OSV is obtained. And it can be considered as a spherical pendulum attached to a three-link manipulator, whose actuators can be controlled and joint angles can be obtained. The control objective is to maintain the payload position while reducing the sway motion of payload in harsh weather and sea conditions. |
In this study, a three-dimensional model of a knuckle boom crane on an OSV is implemented for the dynamic analysis. The case study is to transfer a subsea manifold by the knuckle boom crane in regular waves. Furthermore, a comparative study between uncontrolled and controlled results of the control was performed. Simulation results are included to demonstrate that the proposed control algorithm reduces the impact of the disturbance in harsh sea conditions.