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“Analysis of Offshore Knuckle Boom Crane - Part Two: Motion Control”

Authors: Morten K. Bak and Michael R. Hansen,
Affiliation: University of Agder
Reference: 2013, Vol 34, No 4, pp. 175-181.

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Keywords: Hydraulic crane, system design, directional control valve, bandwidth, ramp time

Abstract: In this paper design of electro-hydraulic motion control systems for offshore knuckle boom cranes is discussed. The influence of the control valve bandwidth along with the ramp time for the control signal are investigated both analytically with simplified system models and numerically with an experimentally verified crane model. The results of both types of investigations are related to general design rules for selection of control valves and ramp times and the relevance of these design rules is discussed. Generally, they are useful but may be too conservative for offshore knuckle boom cranes. However, as demonstrated in the paper, the only proper way to determine this is to evaluate the motion control system design by means of simulation.

PDF PDF (404 Kb)        DOI: 10.4173/mic.2013.4.2

DOI forward links to this article:
  [1] Witold Pawlus, Martin Choux and Michael R. Hansen (2016), doi:10.4173/mic.2016.1.1
  [2] Witold Pawlus, Fred Liland, Nicolai Nilsen, Søren Øydna, Geir Hovland and Torstein K. Wroldsen (2016), doi:10.2118/184406-PA

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[3] Bak, M.K. and Hansen, M.R. (2013). Analysis of offshore knuckle boom crane --- part one: modeling and parameter identification, Modeling, Identification and Control, 2013. 34(4):157--174. doi:10.4173/mic.2013.4.1
[4] Bak, M.K. and Hansen, M.R. (2013). Model based design optimization of operational reliability in offshore boom cranes, International Journal of Fluid Power, 2013. 14(3):53--66.
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[6] Krimbacher, N., Garstenauer, M., and Scheidl, R. (2001). Optimization of hydraulic systems by means of numerical simulation, In Proceedings of the 2nd International Workshop on Computer Software for Design. Ostrava-Malenovice, Czech Republic, pages 76--83.
[7] Krus, P., Jansson, A., and Palmberg, J.-O. (1991). Optimization for component selection in hydraulic systems, In Proceedings of the 4th Bath International Fluid Power Workshop. Bath, UK.
[8] Merritt, H.E. (1967). Hydraulic control systems, Wiley.
[9] MOOG. (2012). Electrohydraulic valves, .. a technical look. Technical report, Moog Inc.. http://www.moog.com/literature/ICD/Valves-Introduction.pdf.
[10] Papadopoulos, E. and Davliakos, I. (2004). A systematic methodology for optimal component selection of electrohydralic servosystems, International Journal of Fluid Power. 5(3):15--24.
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  title={{Analysis of Offshore Knuckle Boom Crane - Part Two: Motion Control}},
  author={Bak, Morten K. and Hansen, Michael R.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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