Modeling and anti-swaying controller of ship-board crane

XIE Bao-chun，MEI Zhi-qian，YIN Li-wei，LI Xiang-guo

（College of Mechanical and Electrical Engineering，Hohai University，Changzhou 213000，China）

Abstract：Aiming at the problems of load sway and inefficiency of shipboard crane during transfer，the identification and optimal method were applied. After the analysis of the kinematic and dynamic relations between parts of shipboard crane，the mathematic model was established. Considering coupling relationship of a load and a ship，a virtual plant was built in FLOW-3D（a Computation Fluid Dynamic software）. After the identification of ship sway model based on data acquired from the plant，the integrated control model was obtained. An optimal method was presented to design an anti-swaying controller which was comprised of PI controller，low pass filter and notch

filter to control residual sway. The simulation of this control model was evaluated on the Matlab/Simulink. Swaying angle of a load with control was eliminated to about 10% comparing to the uncontrolled model. The results indicate that FLOW- 3D is an effective and accurate tool to assist modeling and the anti-sway controller based on optimal method could reduce residual sway greatly. Efficiency and safety factor of a ship-board crane is increased largely.