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A Multi-Body Dynamic Model Based on Bond Graph for Maritime Hydraulic Crane Operations

[+] Author Affiliations
Yingguang Chu

Aalesund University College, Ålesund, Møre og Romsdal, NorwayNorwegian University of Science and Technology, Trondheim, Sør-Trøndelag, Norway

Vilmar Æsøy

Aalesund University College, Ålesund, Møre og Romsdal, Norway

Paper No. OMAE2015-41616, pp. V001T01A010; 7 pages
  • ASME 2015 34th International Conference on Ocean, Offshore and Arctic Engineering
  • Volume 1: Offshore Technology; Offshore Geotechnics
  • St. John’s, Newfoundland, Canada, May 31–June 5, 2015
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 978-0-7918-5647-5
  • Copyright © 2015 by ASME


This paper presents a bond graph model of a maritime crane lifting system comprised of a 3DOFs crane with three revolute joints, a winch, a segment of wire, and a pendulum load. The multi-body model contains the dynamic properties of the system and 3D animation of the operational behaviors. Lagrange’s method was used to derive the dynamic equations of the multi-body crane. Lagrange’s equations provide a clean elegant form for implementation using a special type of bond graph called IC-field. The model based on the bond graph contains interfaces to other domain models, e.g. input devices, control systems, hydraulic actuators, and sensors. Maritime crane operations are challenging due to the impact of heavy lifting, system stiffness and load sway resulted from the unstable working platform. The industry increasingly demands an overall virtual environment for modeling and simulation of maritime operations. The accomplishment will highly increase the efficiency and effectiveness of product and system design, new component and control algorithm testing, and operator training. The multi-body dynamic model is the core building block for modeling and simulation of maritime crane operations.

Copyright © 2015 by ASME



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