Simulator Building for Agile Control Design of Shipboard Crane and its application to Operational Training

• Published in: IFAC Proceedings Volumes Vol. 44; no. 1; pp. 7375 - 7383
• Main Authors: Yong Jian, Nyioh, Noda, Yoshiyuki, Terashima, Kazuhiko
• Format: Journal Article
• Language: English
• Published: 01.01.2011
• Subjects: human-machine interface; oscillations; ship control; teaching; virtual reality; virtual reality; teaching; ship control; oscillations; human-machine interface
• ISSN: 1474-6670
• DOI: 10.3182/20110828-6-IT-1002.02767

In this paper, an integrated computer simulator tool of rotary crane with ship behavior in consideration of ship sway and load sway is newly built to systemize the state analysis of a shipboard crane. The integrated simulator of shipboard crane was realized by cooperating a component of external force interface routine and fluid analysis software. A transfer control system is conducted by HSA (Hybrid Shape Approach) using STT (Straight Transfer Transformation) method and its effectiveness in suppressing the sway of both ship and load was confirmed by the simulation analysis. A shipboard crane operational training system which we call virtual coach teaching system, is also presented, in order to shorten the training period of amateur operators. The controlled inputs generated from HSA controller which are utilized as the ideal commands are then converted to drive a newly built teaching interface. Subjects are physically coached through the ideal motion of joystick by placing their hand on the teaching interface, thus giving them a kinesthetic understanding on how to transfer a load without exciting the sway of both the ship and load. Performance of subjects was measured in terms of transfer time by conducting an experiment using a newly built virtual driving simulator. Findings from this study indicate that virtual coach teaching is effective in training.