Motion Compensation and Robotic Control of Maritime Cranes
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Maritime operations occur in a rapidly changing and extremely dangerous environment. To improve handling of cargo while at sea, this thesis develops a method for combining active-heave compensation and anti-pendulum control for a combined world-frame compensation system. State estimation algorithms are applied using low-cost inertial sensors attached to the deck of the ship and to the body of the load. The control system is validated with physical experiments on a test-scale motion platform, as well as hardware-in-the-loop test-scale simulations. The results show potential for 49.2-99.5% reduction in settling time, 41.1-98.4% reduction in distance travelled, and 34.6-84.0% reduction in root-mean-squared error for energy dissipation tests; as well as potential improvements in set-point tracking performance compared to uncompensated cases when base excitation is applied.
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Copyright © 2020 the author(s). Theses may be used for non-commercial research, educational, or related academic purposes only. Such uses include personal study, research, scholarship, and teaching. Theses may only be shared by linking to Carleton University Institutional Repository and no part may be used without proper attribution to the author. No part may be used for commercial purposes directly or indirectly via a for-profit platform; no adaptation or derivative works are permitted without consent from the copyright owner.
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- 2020
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mckenzie-motioncompensationandroboticcontrolofmaritime.pdf | 2023-05-05 | Public | Download |