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http://dx.doi.org/10.9726/kspse.2017.21.2.027

Heave Compensation System Design for Offshore Crane based on Input-Output Linearization  

Le, Nhat-Binh (Pukyong National University)
Kim, Byung-Gak (Pukyong National University)
Kim, Young-Bok (Department of Mechanical System Engineering, Pukyong National University)
Publication Information
Journal of Power System Engineering / v.21, no.2, 2017 , pp. 27-34 More about this Journal
Abstract
A heave motion of the offshore crane system with load is affected by unpredictable external factors. Therefore the offshore crane must satisfy rigorous requirements in terms of safety and efficiency. This paper intends to reduce the heave displacement of load position which is produced by rope extension and sea wave disturbance in vertical motion. In this system, the load position is compensated by the winch actuator control. The rope is modeled as a mass-damper-spring system, and a controller is designed by the input-output linearization method. The model system and the proposed control method are evaluated on the simulation results.
Keywords
Rope dynamics; Offshore crane; Heave compensation; Input-output linearization;
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