Simulation and Control of an Anti-Swing System for a Suspended Load attached to a moving Base Robot

Abstract

Advanced motion compensation is an important eld of engineering in today's o shore industry. Performing advanced load handling operations at sea requires high attention to both safety and e ciency. In environments governed by wave motion and harsh weather conditions, these types of operations are complex tasks. Most of the load handling scenarios are performed by advanced o shore loader cranes, where many of these are equipped with the industry's state-of-the-art Active Heave Compensation. This technology is capable of compensating for the wave height disturbance, meaning that the load is kept at a constant height above the sea oor. A common problem arises when equipment or personnel have to be transported from a moving vessel to another vessel or o shore installation. In these scenarios compensation of the side-to-side motion is of equal importance as the relative height movement. This thesis proposes a method to reduce this side-ways motion. An anti-swing system has been developed for a simulation model of a suspended load attached to a moving base robot. The work focuses on deriving mathematical models of the related systems, where control systems are designed to the reduce the swing motion of the suspended load by actuation of the load handling robot. The developed system models are based on the available equipment of the Norwegian Motion-Laboratory. Results of the proposed system are obtained from the simulation of the motion system, which yields a system capable of tracking the robotic tool-point reference signal with acceptable accuracy and reducing the suspended load's swing-angles with satisfactory performance.