We investigate the feasibility of a variable-geometry truss (VGT) based architecture for suppressing payload pendulations in ship-mounted cranes. The VGT assembly is conceived to be retrofitted onto the boom tip of ship-mounted cranes. A simplified planar model is developed. A control point along the cable hoisting the payload is constrained to move along a straight path with a given control input (acceleration) imparted via the actuators embedded in the VGT assembly. Control laws based on either linear quadratic or fuzzy control methodologies are developed in order to minimize an assigned cost functional. Their effectiveness is compared through extensive numerical simulations. The performance of the VGT architecture and associated control laws is analyzed when the crane is subject to the most severe combination of resonant excitations: a primary resonant roll excitation at the natural frequency of the controlled system, and a principal-parametric resonant heave excitation, both corresponding to sea state three and higher. The proposed strategy exhibits enough control authority over the system dynamics, greatly reducing the severe and undesirable resonant pendulations caused by the ship motions in a broad-band frequency range. Moreover, its disturbance-rejection capabilities are exerted with feasible control efforts, which are localized in the segment of the crane where they are needed.

Payload pendulation reduction using a variable-geometry truss architecture via LQR and fuzzy controls / Dadone, P.; Lacarbonara, Walter; Nayfeh, A. H.; Vanlandingham, H. F.. - In: JOURNAL OF VIBRATION AND CONTROL. - ISSN 1077-5463. - STAMPA. - 9:(2003), pp. 805-837. [10.1177/1077546303009007005]

Payload pendulation reduction using a variable-geometry truss architecture via LQR and fuzzy controls

LACARBONARA, Walter;
2003

Abstract

We investigate the feasibility of a variable-geometry truss (VGT) based architecture for suppressing payload pendulations in ship-mounted cranes. The VGT assembly is conceived to be retrofitted onto the boom tip of ship-mounted cranes. A simplified planar model is developed. A control point along the cable hoisting the payload is constrained to move along a straight path with a given control input (acceleration) imparted via the actuators embedded in the VGT assembly. Control laws based on either linear quadratic or fuzzy control methodologies are developed in order to minimize an assigned cost functional. Their effectiveness is compared through extensive numerical simulations. The performance of the VGT architecture and associated control laws is analyzed when the crane is subject to the most severe combination of resonant excitations: a primary resonant roll excitation at the natural frequency of the controlled system, and a principal-parametric resonant heave excitation, both corresponding to sea state three and higher. The proposed strategy exhibits enough control authority over the system dynamics, greatly reducing the severe and undesirable resonant pendulations caused by the ship motions in a broad-band frequency range. Moreover, its disturbance-rejection capabilities are exerted with feasible control efforts, which are localized in the segment of the crane where they are needed.
2003
Cranes; variable-geometry truss; linear quadratic control; fuzzy control; nonlinear resonance; nonlinear active control
01 Pubblicazione su rivista::01a Articolo in rivista
Payload pendulation reduction using a variable-geometry truss architecture via LQR and fuzzy controls / Dadone, P.; Lacarbonara, Walter; Nayfeh, A. H.; Vanlandingham, H. F.. - In: JOURNAL OF VIBRATION AND CONTROL. - ISSN 1077-5463. - STAMPA. - 9:(2003), pp. 805-837. [10.1177/1077546303009007005]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/109580
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