Large-scale ship-mounted cranes are important facilities for marine construction. However, under harsh sea conditions, the hoisting system of a ship-mounted crane is often subjected to wave loadings, leading to frequent occurrences of large-amplitude resonance. This paper proposes an active control method, termed the active displacement compensation (ADC) approach, designed for suppressing the large-amplitude pendulation of the hoisting system of ship-mounted cranes. By controlling the position of the suspension point of the hoisting system using linear-motion actuators, the input excitations of the hoisting system induced by the ship motions can be partially or fully compensated in real-time. Therefore, the proposed ADC approach can significantly suppress the large-amplitude pendulation of the hoisting system. The optimal feedback gain and time delay of the ADC approach are theoretically obtained. The ADC approach has been validated by using a six-degree-of-freedoms shaking table test and numerical simulation on the in-plane pendulation suppression of a small-scale hoisting system. Experimental results indicate that the ADC approach achieves a pendulation reduction ratio between 85 % and 89 % for the hoisting system subjected to scaled ship motion records. This study may help develop efficient active control techniques for hoisting systems of ship-mounted cranes under harsh sea conditions.

中文翻译：

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海浪激励下船用起重机起升系统主动摆控制原理与实验研究


大型船用起重机是海洋施工的重要设施。然而，在恶劣的海况下，船用起重机的起升系统经常受到波浪载荷的作用，导致频繁出现大振幅共振。本文提出了一种主动控制方法，称为主动位移补偿（ADC）方法，旨在抑制船用起重机起升系统的大振幅摆动。通过使用直线运动执行器控制起升系统悬挂点的位置，可以实时部分或全部补偿由船舶运动引起的起升系统的输入激励。因此，所提出的ADC方法可以显着抑制提升系统的大幅摆动。理论上获得了ADC方法的最佳反馈增益和时间延迟。通过六自由度振动台试验和小型起重系统面内摆动抑制的数值模拟，对该 ADC 方法进行了验证。实验结果表明，对于按比例船舶运动记录的提升系统，ADC 方法实现了 85% 至 89% 的摆幅减少率。这项研究可能有助于开发恶劣海况下船用起重机起升系统的高效主动控制技术。