Cargo Pendulation Reduction on Ship-Mounted Cranes

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dc.contributor.advisor Mook, Dean T. en_US
dc.contributor.advisor Hendricks, Scott L. en_US
dc.contributor.advisor Nayfeh, Ali H. en_US
dc.contributor.author Henry, Ryan J. en_US
dc.date.accessioned 2011-08-06T16:02:41Z
dc.date.available 2011-08-06T16:02:41Z
dc.date.issued 1997-05-08 en_US
dc.identifier.other etd-070899-145159 en_US
dc.identifier.uri http://hdl.handle.net/10919/10037
dc.description.abstract It is sometimes necessary to transfer cargo from a large ship to a smaller ship at sea. Specially designed craneships are used for this task, however the wave-induced motions of the ship can cause large pendulations of cargo being hoisted by a ship-mounted crane. This makes cargo transfer in rough seas extremely dangerous and therefore transfer operations normally cease when sea state 3 is reached. If the cargo pendulations could be reduced in higher sea states, transfer operations would be possible. By controlling the boom luff angle, one can reduce the cargo pendulations in the plane of the boom significantly. A two-dimensional pendulum with a rigid massless cable and massive point load is used to model the system. A control law using time-delayed position feedback is developed and the system is simulated on a computer using the full nonlinear equations of motion. A three-degree-of-freedom ship-motion simulation platform, capable of simulating heave, pitch, and roll motions, was built. The computer simulation results were experimentally verified by mounting a 1/24th scale model of a T-ACS crane on the ship-motion simulation platform. en_US
dc.format.medium ETD en_US
dc.publisher Virginia Tech en_US
dc.relation.haspart thesis.pdf en_US
dc.rights The authors of the theses and dissertations are the copyright owners. Virginia Tech's Digital Library and Archives has their permission to store and provide access to these works. en_US
dc.source.uri http://scholar.lib.vt.edu/theses/available/etd-070899-145159 en_US
dc.subject crane control en_US
dc.subject ship-mounted crane en_US
dc.subject time-delayed feedback en_US
dc.title Cargo Pendulation Reduction on Ship-Mounted Cranes en_US
dc.type Thesis en_US
dc.contributor.department Engineering Mechanics en_US
dc.description.degree MS en_US

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