Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control
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...
Published in: | Volume 9: Offshore Geotechnics; Torgeir Moan Honoring Symposium |
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American Society of Mechanical Engineers (ASME)
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Online Access: | http://hdl.handle.net/11250/2468174 https://doi.org/10.1115/OMAE2017-62003 |
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ftntnutrondheimi:oai:ntnuopen.ntnu.no:11250/2468174 2023-05-15T14:24:09+02:00 Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control Ren, Zhengru Skjetne, Roger Gao, Zhen 2017 http://hdl.handle.net/11250/2468174 https://doi.org/10.1115/OMAE2017-62003 eng eng American Society of Mechanical Engineers (ASME) ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering - Volume 9: Offshore Geotechnics; Torgeir Moan Honoring Symposium urn:isbn:978-0-7918-5777-9 http://hdl.handle.net/11250/2468174 https://doi.org/10.1115/OMAE2017-62003 cristin:1508417 Chapter Peer reviewed 2017 ftntnutrondheimi https://doi.org/10.1115/OMAE2017-62003 2019-09-17T06:53:05Z 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. publishedVersion (c) 2017 by ASME Book Part Arctic NTNU Open Archive (Norwegian University of Science and Technology) Volume 9: Offshore Geotechnics; Torgeir Moan Honoring Symposium |
institution |
Open Polar |
collection |
NTNU Open Archive (Norwegian University of Science and Technology) |
op_collection_id |
ftntnutrondheimi |
language |
English |
description |
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. publishedVersion (c) 2017 by ASME |
format |
Book Part |
author |
Ren, Zhengru Skjetne, Roger Gao, Zhen |
spellingShingle |
Ren, Zhengru Skjetne, Roger Gao, Zhen Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control |
author_facet |
Ren, Zhengru Skjetne, Roger Gao, Zhen |
author_sort |
Ren, Zhengru |
title |
Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control |
title_short |
Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control |
title_full |
Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control |
title_fullStr |
Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control |
title_full_unstemmed |
Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control |
title_sort |
modeling and control of crane overload protection during marine lifting operation based on model predictive control |
publisher |
American Society of Mechanical Engineers (ASME) |
publishDate |
2017 |
url |
http://hdl.handle.net/11250/2468174 https://doi.org/10.1115/OMAE2017-62003 |
genre |
Arctic |
genre_facet |
Arctic |
op_relation |
ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering - Volume 9: Offshore Geotechnics; Torgeir Moan Honoring Symposium urn:isbn:978-0-7918-5777-9 http://hdl.handle.net/11250/2468174 https://doi.org/10.1115/OMAE2017-62003 cristin:1508417 |
op_doi |
https://doi.org/10.1115/OMAE2017-62003 |
container_title |
Volume 9: Offshore Geotechnics; Torgeir Moan Honoring Symposium |
_version_ |
1766296608265207808 |