Modeling of Offshore Crane and Marine Craft in Wave Motion
Peer reviewed, Journal article
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Original versionIEEE Conference on Industrial Electronics and Applications. 2020, 1463-1470. 10.1109/ICIEA48937.2020.9248110
Safe handling of heavy payloads in an offshore environment requires careful planning and depends on the interaction between a crane and a vessel. This paper investigates the coupled dynamics between a multipurpose crane with payload, and an offshore carrying vessel. A classical multi-body model is derived using holonomic constraints and Newton-Euler kinetics. The resulting index-3 system of differential-algebraic equation (DAE) is transformed into an index-1 system and solved using commonly used numerical ode solvers. Numerical simulations are carried out to show that the proposed models behave in a physically realistic manner.