Dynamic Analysis of Marine Tower Cranes with Double Pendulum Subject to Ocean Wave Disturbance

• Published in: Chinese Control Conference pp. 443 - 448
• Main Authors: Li, Fuzhi, Qian, Yuzhe, Zhang, Haibo
• Format: Conference Proceeding
• Language: English
• Published: Technical Committee on Control Theory, Chinese Association of Automation 24.07.2023
• Subjects: Adaptation models; Cranes; Double-pendulum; Dynamics; Marine tower cranes; Motion control; Ocean waves; Poles and towers; Simulation; Transportation; Underactuated characteristics
• ISSN: 1934-1768
• DOI: 10.23919/CCC58697.2023.10240261

This paper analyzes the dynamic characteristics of double pendulum effect of marine tower crane under the influence of conventional sea wave disturbance. From a practical perspective, the load may have a second-order swing effect with respect to the hook during ship-to-ship or ship-to-port transportation, which greatly increases the complex dynamic characteristics of marine tower cranes. Most researches mainly consider the control problems for single pendulum cranes, which ignore the double pendulem phenomenon for marine tower cranes. Therefore, it is of great significance to establish an accurate dynamic model. In this paper, we creat the precise dynamic model by applying the Lagrange analysis method, it is mainly composed of trolley, the lifting hook and load. Considering practical requirements, including the disturbance of waves and the saturation constraints of the controller, one energy-based nonlinear controller is proposed. Based on controller design analysis, output feedback control method can achieve accurate positioning of trolley as well as effective elimination of hook and payload swing. It is widely known that the modeling and the output feedback controller design of marine tower crane are proposed for the first time in this paper. Finally, a series of simulation results are depicted to show the effectiveness of the proposed output feedback controller.