Research Papers

Modeling Stabilization of Crane-Induced Ship Motion With Gyroscopic Control Using the Moving Frame Method

[+] Author and Article Information
Josef Flatlandsmo

Mechanical and Marine Engineering,
Western Norway University of
Applied Sciences (HVL),
Løbergsveien 102,
Bergen, 5073, Norway
e-mail: josefflat@gmail.com

Torbjørn Smith

Mechanical and Marine Engineering,
Western Norway University of
Applied Sciences (HVL),
Stovebakken 27, Straume,
Bergen, 5453, Norway
e-mail: torbjoernsmith@gmail.com

Ørjan O. Halvorsen

Mechanical and Marine Engineering,
Western Norway University of
Applied Sciences (HVL),
Solheimsgaten 60,
Bergen, 5054, Norway
e-mail: halvorsen.o@hotmail.com

Thomas J. Impelluso

Mechanical and Marine Engineering,
Western Norway University of
Applied Sciences (HVL),
Inndalsveien 28,
Bergen, 5063, Norway
e-mail: tjm@hvl.no

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received July 18, 2018; final manuscript received December 3, 2018; published online January 18, 2019. Assoc. Editor: Corina Sandu.

J. Comput. Nonlinear Dynam 14(3), 031006 (Jan 18, 2019) (12 pages) Paper No: CND-18-1318; doi: 10.1115/1.4042323 History: Received July 18, 2018; Revised December 03, 2018

This paper presents a new method in multibody dynamics and applies it to the challenge of stabilizing ship motion induced by onboard crane operations. Norwegian industries are constantly assessing new technologies for more efficient and safer production in the aquacultural, renewable energy, and oil and gas industries. They share a common challenge to install new equipment and transfer personnel in a safe and controllable way between ships, fish farms, and oil platforms. This paper deploys the moving frame method (MFM) to analyze the motion induced by a crane, yet controlled by a gyroscopic inertial device. We represent the crane as a simple two-link system that transfers produce and equipment to and from barges. We analyze how an inertial flywheel can stabilize the ship during the transfer. Lie group theory and the work of Elie Cartan are the foundations of the MFM. This, together with a restriction on the variation of the angular velocity used in Hamilton's principle, enables an effective way of extracting the equations of motion for an open-loop system. Furthermore, this work displays the results in three-dimensional (3D) on cell phones. The long-term results of this work lead to a robust 3D active compensation method for loading/unloading operations offshore. Finally, the simplicity of the analysis anticipates the impending time of artificial intelligence when machines, equipped with onboard central processing units and internet protocol addresses, are empowered with learning modules to conduct their operations.

Copyright © 2019 by ASME
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Grahic Jump Location
Fig. 1

Ship with crane and stabilizing gyro

Grahic Jump Location
Fig. 3

Left: gyro disk with no angular velocity. The boat rolls. Right: gyro disk is spun up and roll is stabilized.

Grahic Jump Location
Fig. 4

Left simulation: the disk is nutating and not spinning. Right simulation: the disk is spinning and becomes stable in space. Nutation causes the boat to roll.



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