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On investigating dynamic coupling in floating platform and overhead crane interactions: modeling and control

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Abstract

In offshore crane systems, the floating platform motion has a significant impact on the dynamics of the cart motion. Nevertheless, previous studies have ignored the dynamic coupling interaction between the crane and the floating platform induced by changes in hydrostatic, hydrodynamic, and mooring loads affecting the offshore platform-crane system response. To address this problem, this study presents, firstly, a comprehensive model of the crane-platform dynamic coupling under realistic surge-roll-heave motions of the floating platform induced by ocean waves. While the payload motion can be known, the surge-roll-heave motions of the floating platform are considered unknown. Therefore, secondly, we propose an output feedback control approach that combines a state feedback controller and an extended high-gain observer to primarily achieve desired trajectories of the cart motion under unknown payload mass, dynamic friction, dynamic coupling, and external disturbances. The extended high-gain observer uses the measured displacement of the cart to estimate the dynamic states and external disturbances, providing the state feedback controller with the necessary information and increasing the robustness of the control system. The effectiveness of the proposed model-based control approach under unknown dynamic and wave motion disturbances is verified through simulation.

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Data Availibility Statement

All data underlying the results are available as a part of the article, and no additional source data are required.

Abbreviations

\(\phi \) :

Platform roll motion (rad)

\(\theta \) :

Cable swing angle  (rad)

\(d_{\textrm{AL}}\) :

Fixed position of the left anchor  (m)

\(d_{\textrm{AR}}\) :

Fixed position of the right anchor  (m)

\(d_{\textrm{fL}}\) :

Positions of the left fairleads relative to G  (m)

\(d_{fp}\) :

Platform diameter  (m)

\(d_{\textrm{fR}}\) :

Positions of the right fairleads relative to G  (m)

\(d_{G}\) :

Depth of the platform center of mass below the water level  (m)

\(d_{sb}\) :

Water depth  (m)

\(F_{cx}\) :

Controlled force of the cart  (N)

h :

The height of the overhead crane  (m)

\(H_{\textrm{a}}\) :

Wave elevation amplitude  (m)

\(I_{fp}\) :

Platform moment of inertia  (kg m\(^{2}\))

L :

Crane cable length  (m)

\(l_{fp}\) :

Platform length  (m)

\(m_\textrm{c}\) :

Cart mass  (kg)

\(m_\textrm{p}\) :

Payload mass  (kg)

\(m_{fp}\) :

Platform mass  (kg)

X :

Platform surge motion  (m)

x :

Cart horizontal motion  (m)

Z :

Platform heave motion  (m)

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Funding

This work was supported by the Ocean Frontier Institute, Alexander Murray Building, Room ER 2003 St. John’s, NL A1B 3X5, Canada.

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Authors and Affiliations

  1. Department of Mechanical Engineering, King Fahd University of Petroleum and Minerals, 34463, Dhahran, Saudi Arabia

    Mohammed Khair Al-Solihat

  2. Department of Mechanical and Mechatronics Engineering, Memorial University, St. John’s, NL, A1B 3X5, Canada

    Mohammad Al Saaideh, Yazan M. Al-Rawashdeh & Mohammad Al Janaideh

  3. School of Engineering, University of Guelph, Guelph, ON, N1G 2W1, Canada

    Mohammad Al Janaideh

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  1. Mohammed Khair Al-Solihat
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  2. Mohammad Al Saaideh
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Correspondence to Mohammad Al Saaideh.

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Khair Al-Solihat, M., Al Saaideh, M., Al-Rawashdeh, Y.M. et al. On investigating dynamic coupling in floating platform and overhead crane interactions: modeling and control. Nonlinear Dyn (2024). https://doi.org/10.1007/s11071-024-09676-8

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