Dynamic actuation model for vibration reduction in offshore cranes

The handling of offshore payloads is a critical operation that presents numerous challenges, in particular related to the required precision in controlling their oscillations in a safely and accurate manner. This study presents a preliminary approach to an anti-sway control conceived to mitigate such problems and possibly to automate some of the operations concerning the payload sway control that are currently done manually. In particular, a system consisting of a translating trolley actuated through a PID controller is taken into consideration to mitigate the oscillations induced by the vessel’s rolling motion onto a simplified two-dimensional and 4 degrees of freedom double-pendulum model representing the hanging payload. A three-dimensional double-pendulum model is also taken into account, in order to have a more representative case with respect to the two-dimensional one.