Journal
IEEE JOURNAL OF OCEANIC ENGINEERING
Volume 31, Issue 3, Pages 599-613Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JOE.2006.880394
Keywords
crane control; heave compensation; hydrodynamic loads; parallel force/position control; water entry; water exit; wave synchronization
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A parallel force/position controller is proposed for the control of loads through the wave zone in marine operations. The controller structure has similarities to the parallel force/position control scheme used in robotics. The parallel force/position controller is tested for crane control in simulations and model experiments and the results are presented in this paper. To evaluate the performance of the proposed controller, we study three different control strategies for control of loads through the wave zone: active heave compensation, wave synchronization, and parallel force/position control. The parallel force/position controller gave improved results, in particular, a significant improvement of the minimum value of the wire tension, which is important to avoid snatch loads that may break the wire. The three strategies are tested and compared in simulations and experiments.
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