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

[+] Author Affiliations
Zhengru Ren, Roger Skjetne, Zhen Gao

Norwegian University of Science and Technology, Trondheim, Norway

Paper No. OMAE2017-62003, pp. V009T12A027; 9 pages
  • ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering
  • Volume 9: Offshore Geotechnics; Torgeir Moan Honoring Symposium
  • Trondheim, Norway, June 25–30, 2017
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 978-0-7918-5777-9
  • Copyright © 2017 by ASME


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.

Copyright © 2017 by ASME



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