Modeling and anti-sway control of ship-mounted crane

Abstract

This article analyzes the dynamics of a ship-mounted crane and establishes the mathematical model of the load. Based on the mathematical model, the time-delayed feedback control algorithm is proposed to anti-load sway. The Lambert W function and Newton-Raphson method are used to prove the stability of control system. The contour plot of the system damping is obtained; by selecting appropriate time delay and system gain, the system damping increases and load sway rapidly decays, thereby the system is stable. The co-simulation and experimental results show that the delayed feedback controller has better performance in anti-sway and robustness.