Antiswing Control and Trajectory Planning for Offshore Cranes: Design and Experiments
In offshore environments, safe management of heavy payloads requires precise crane operations to avoid collisions with obstacles and adjacent equipment. Uncontrolled residual swinging of suspended payloads can quickly evolve into high-risk situations, which, if left unchecked, might lead to signific...
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| Format: | Article |
| Language: | English |
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Norwegian Society of Automatic Control
2024-10-01
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| Series: | Modeling, Identification and Control |
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| Online Access: | http://www.mic-journal.no/PDF/2024/MIC-2024-4-1.pdf |
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| _version_ | 1832592404984627200 |
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| author | Ronny Landsverk Jing Zhou Daniel Hagen |
| author_facet | Ronny Landsverk Jing Zhou Daniel Hagen |
| author_sort | Ronny Landsverk |
| collection | DOAJ |
| description | In offshore environments, safe management of heavy payloads requires precise crane operations to avoid collisions with obstacles and adjacent equipment. Uncontrolled residual swinging of suspended payloads can quickly evolve into high-risk situations, which, if left unchecked, might lead to significant equipment failures and associated costs. This paper explores a control methodology designed specifically to eliminate payload swing in offshore cranes. We present a trajectory tracking technique explicitly crafted for swing suppression under control, rooted in the principles of the iterative learning algorithm and based on physics. The proposed antiswing control strategy guarantees asymptotic convergence of the payload's swing, angular velocity, and angular acceleration to desired values. The method was tested on a Comau robot mounted on a Stewart platform at the Norwegian Motion Laboratory. Simulation and experimental results comparing payload transfers with and without applying the anti-swing control method validates it's effectiveness. |
| format | Article |
| id | doaj-art-3823a6a206624979818b964fb0204c84 |
| institution | Kabale University |
| issn | 0332-7353 1890-1328 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | Norwegian Society of Automatic Control |
| record_format | Article |
| series | Modeling, Identification and Control |
| spelling | doaj-art-3823a6a206624979818b964fb0204c842025-01-21T08:10:01ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13282024-10-0145411512610.4173/mic.2024.4.1Antiswing Control and Trajectory Planning for Offshore Cranes: Design and ExperimentsRonny LandsverkJing ZhouDaniel HagenIn offshore environments, safe management of heavy payloads requires precise crane operations to avoid collisions with obstacles and adjacent equipment. Uncontrolled residual swinging of suspended payloads can quickly evolve into high-risk situations, which, if left unchecked, might lead to significant equipment failures and associated costs. This paper explores a control methodology designed specifically to eliminate payload swing in offshore cranes. We present a trajectory tracking technique explicitly crafted for swing suppression under control, rooted in the principles of the iterative learning algorithm and based on physics. The proposed antiswing control strategy guarantees asymptotic convergence of the payload's swing, angular velocity, and angular acceleration to desired values. The method was tested on a Comau robot mounted on a Stewart platform at the Norwegian Motion Laboratory. Simulation and experimental results comparing payload transfers with and without applying the anti-swing control method validates it's effectiveness.http://www.mic-journal.no/PDF/2024/MIC-2024-4-1.pdfantiswing controlcrane controlmodelingtrajectory planningiterative learning |
| spellingShingle | Ronny Landsverk Jing Zhou Daniel Hagen Antiswing Control and Trajectory Planning for Offshore Cranes: Design and Experiments Modeling, Identification and Control antiswing control crane control modeling trajectory planning iterative learning |
| title | Antiswing Control and Trajectory Planning for Offshore Cranes: Design and Experiments |
| title_full | Antiswing Control and Trajectory Planning for Offshore Cranes: Design and Experiments |
| title_fullStr | Antiswing Control and Trajectory Planning for Offshore Cranes: Design and Experiments |
| title_full_unstemmed | Antiswing Control and Trajectory Planning for Offshore Cranes: Design and Experiments |
| title_short | Antiswing Control and Trajectory Planning for Offshore Cranes: Design and Experiments |
| title_sort | antiswing control and trajectory planning for offshore cranes design and experiments |
| topic | antiswing control crane control modeling trajectory planning iterative learning |
| url | http://www.mic-journal.no/PDF/2024/MIC-2024-4-1.pdf |
| work_keys_str_mv | AT ronnylandsverk antiswingcontrolandtrajectoryplanningforoffshorecranesdesignandexperiments AT jingzhou antiswingcontrolandtrajectoryplanningforoffshorecranesdesignandexperiments AT danielhagen antiswingcontrolandtrajectoryplanningforoffshorecranesdesignandexperiments |