Abstract
dc:description.abstractIt is sometimes necessary to transfer cargo from a large ship to a smaller ship at sea. Specially designed craneships are used for this task, however the wave-induced motions of the ship can cause large pendulations of cargo being hoisted by a ship-mounted crane. This makes cargo transfer in rough seas extremely dangerous and therefore transfer operations normally cease when sea state 3 is reached. If the cargo pendulations could be reduced in higher sea states, transfer operations would be possible. By controlling the boom luff angle, one can reduce the cargo pendulations in the plane of the boom significantly. A two-dimensional pendulum with a rigid massless cable and massive point load is used to model the system. A control law using time-delayed position feedback is developed and the system is simulated on a computer using the full nonlinear equations of motion. A three-degree-of-freedom ship-motion simulation platform, capable of simulating heave, pitch, and roll motions, was built. The computer simulation results were experimentally verified by mounting a 1/24th scale model of a T-ACS crane on the ship-motion simulation platform.
Degree
thesis:*- Name thesis:degree_name
- Master of Science
- Level thesis:degree_level
- masters
- Discipline thesis:degree_discipline
- Engineering Mechanics
- Department dc:contributor.department
- Engineering Mechanics
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 1997
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Henry, Ryan J.
- Chair dc:contributor.committeechair
-
- Nayfeh, Ali H.
- Committee members dc:contributor.committeemember
-
- Mook, Dean T.
- Hendricks, Scott L.
Subjects
dc:subject × 3Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Dc Identifier Other
- etd-070899-145159
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/10037