Journal
CONTROL ENGINEERING PRACTICE
Volume 16, Issue 3, Pages 356-364Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2007.05.003
Keywords
mechanical systems; marine systems; feedback control methods; observers; output regulation
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A novel feedback controller for cranes employed in heavy-lift offshore marine operations is proposed. The control objective is to reduce the hydrodynamic slamming load acting on a payload at water-entry of moonpool operations; at the same time the values of the wire tension must be kept within acceptable bounds. The effectiveness of the proposed controller is shown experimentally; the experiments are performed on a scale model and show improvements with respect to a previous feedforward controller. (c) 2007 Elsevier Ltd. All rights reserved.
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