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Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control

Ren, Zhengru; Skjetne, Roger; Gao, Zhen
Chapter, Peer reviewed
Published version
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Postprint_paper05.model+predictive+control-OMAE-V2.0.pdf (1022.Kb)
URI
http://hdl.handle.net/11250/2468174
Date
2017
Metadata
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  • Institutt for marin teknikk [2408]
  • Publikasjoner fra CRIStin - NTNU [20888]
Original version
10.1115/OMAE2017-62003
Abstract
This paper deals with a nonlinear model predictive control (NMPC) scheme for a winch servo motor to overcome the sudden peak tension in the lifting wire caused by a lumped-mass payload at the beginning of a lifting off or a lowering operation. The crane-wire-payload system is modeled in 3 degrees of freedom with the Newton-Euler approach. Direct multiple shooting and real-time iteration (RTI) scheme are employed to provide feedback control input to the winch servo. Simulations are implemented with MATLAB and CaSADi toolkit. By well tuning the weighting matrices, the NMPC controller can reduce the snatch loads in the lifting wire and the winch loads simultaneously. A comparative study with a PID controller is conducted to verify its performance.
Publisher
American Society of Mechanical Engineers (ASME)

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