Title
Motion Control Strategies for Smart Floating Cranes
Author
Bentvelsen, Wouter (Student TU Delft)
Gorsse, Guus Jonathan (Student TU Delft)
Bouman, Niels (Student TU Delft)
Bashandy, Vincent (Student TU Delft)
Garofano, V. (TU Delft Transport Engineering and Logistics)
Jovanova, J. (TU Delft Transport Engineering and Logistics) 
Contributor
Piatek, Lukasz (editor)
Lim, Soon Heng (editor)
Wang, Chien Ming (editor)
Dinther, Rutger de Graaf-van (editor)
Date
2022
Abstract
Floating structures have raised interest in the recent years for different applications, from living and farming at sea to renewable energy production. To support the logistics on the floating structures, floating cranes are necessary and their designs are constantly improved. Increasing developments in the automation industry paved the way for automated crane operations. In this work, motion control of a smart crane is presented with particular attention to the performance under wave motion. In this research, a scaled down, two-dimensional mathematical model of a gantry crane is derived using Lagrangian mechanics and DC motors dynamics. This results in a nonlinear system that is capable of simultaneous traversing and hoisting a container. The system is simulated in MATLAB Simulink environment and a proportional-derivative control and a state feedback control are designed and implemented. Their robustness is explored by modelling sensor behavior, external disturbances and floating platform dynamics. Both control strategies were able to keep stability in a disturbed system. During simulation, the sway angles never exceed 10°. Smaller oscillations occurred using the state feedback control. Therefore, it creates a smoother response compared to the proportional derivative control, which ultimately translates to increased safety, turnover rate and durability of the crane.
Subject
Floating platform
Motion control
PD control
Smart cranes
State feedback control
To reference this document use:
http://resolver.tudelft.nl/uuid:b7e87033-6357-45a8-993a-b9c00b3b3cf9
DOI
https://doi.org/10.1007/978-981-16-2256-4_15
Publisher
Springer, Singapore
Embargo date
2022-02-06
ISBN
978-981-16-2255-7
Source
Proceedings of the 2nd World Conference on Floating Solutions, WCFS2020
Event
2nd World Conference on Floating Solutions, WCFS 2020, 2020-10-06 → 2020-10-08, Virtual, Online, Netherlands
Series
Lecture Notes in Civil Engineering, 2366-2557, 158
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Part of collection
Institutional Repository
Document type
conference paper
Rights
© 2022 Wouter Bentvelsen, Guus Jonathan Gorsse, Niels Bouman, Vincent Bashandy, V. Garofano, J. Jovanova