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Dynamic Analysis and Intelligent Control of an Offshore Marine Crane for Safe Load Carrying

Balouti, Sadra | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 47676 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Selk Ghafari , Ali; Zabihollah, Abolghasem
  7. Abstract:
  8. Marine cranes are installed on vessels to transfer or transport payloads between ships or between ships and decks. One of the most critical issues in this case is the safety during load transferring. Marine cranes move or sway in unexpected direction, when they are influenced by wave, wind and storm. Theprocess of controlling them became difficult without using automatic control methods. Ingeneral, the movement of cranes has no prescribed path.This master thesis is about dynamic modeling and control of fixed crane placed on an offshore vessel. The main challenging problem in this work will be developing an accurate mathematical model of the crane. Therefore, bond graph method which is known as a powerful language is employed to develop the mathematical model of the crane and ship. It should be noted that the crane is considered as a flexible structure. The factor that distinguishes this thesis from other works is the flexibility of the crane. It means, we assume the vibration of the crane during load transferring. Finally, in order to control the position and velocity of the load during load transferring, the PID controller whichis tuned by iterative feedback tuning (IFT) is proposed. The results show good performance. In fact, the effect of flexibilityare reduced
  9. Keywords:
  10. Bond Graph ; Simulation ; Multibody Dynamics ; Proportional-Integral-Derivative (PID)Controller ; Marine Crane

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