Transcript Sensors - Lei Lani

Modular Crane Control System
(MCCS)
Craft Engineering Associates, Inc.
Phase II SBIR
Interim Status
Hampton, VA
Principal Investigator: Dr. J. Dexter Bird, III
Contract # N00024-11-C-4167
Topic #N06-057
TPOC:
Cargo Transfer From
Offshore Supply Vessels
To Large Deck Vessels
Dr. Frank Leban
NSWCCD/PEO-SHIPS
Sponsor:
March 7, 2014
Robert Mitchell
NSWCCD/PEO-SHIPS
Modular Crane Control System (MCCS)
Objective:
To develop and
demonstrate a modular
solution for crane
pendulation and motion
control suitable for a
wide range of US Navy
shipboard cranes,
particularly hydraulic,
extending-boom,
pedestal cranes, like
those on the JHSV for
boat and cargo handling.
Full-scale, commercial, extending-boom, hydraulic
crane, modified with MCCS components and
tested on 100 ton, 3 DOF motion platform
Modular Crane Control System (MCCS)
An Appleton Marine EB230-49-33 crane, like those on the JHSV,
is typical of marine pedestal cranes. A 1/9th scale model was built
to develop the modular pendulation control concept and tested on
a six DOF motion platform at Michigan Technological University in
Houghton, Michigan.
1/9th Scale Model Crane
MCCS Key Features
• Sensors – Develop a standard set of rugged sensors that
can be easily integrated with a variety of marine cranes.
• Drive System Modifications – Identify existing drive
system dynamics and provide remote valve actuation for
closed loop capability.
• Control and Interface Hardware – Develop a system that
can integrate with typical off-the-shelf crane control
hardware.
• Control System – Develop algorithms to utilize available
crane control to cancel ship motion, damp residual swing
and respond to operator commands.
Modular Crane Control System (MCCS)
Block Diagram
Operator
Inputs
Ship Motion
Crane
Hardware
Boom Tip
Motions
Crane Control
Interface
Pendulum
Dynamics
Crane Geometry
Sensors
Ship
Motion
Sensor
MCCS
Control Algorithm
Activate MCCS
Payload
Motion
Payload
Sensor
Modular Crane Control System (MCCS)
Operating Modes:
Manual Mode
Crane operates by joystick commands from the operator as a standard
commercial crane with no augmentation
Ship Motion Cancellation
MCCS monitors ship motion and crane geometry and adjusts crane axes to
minimize motion of the boom tip
Heave Compensation
MCCS adjusts the hoist to minimize vertical motion of the hook block and
cargo
Swing Damping
MCCS monitors residual load pendulation and acts to reduce lateral
excursions of the payload
Modular Crane Control System (MCCS)
Work Accomplished
Scale Modeling
 Designed & fabricated a 1/9th scale, electrically powered, model of the JHSV crane
 Instrumented the crane axes and provided computer system control
 Testing was conducted on motion platform at Michigan Tech
Full Scale Testing
 Acquired a 15-ton Galion, mobile, extending-boom, hydraulic crane (the upper
rotating structure simulates a marine pedestal crane)
 Instrumented the four axes (luff, slew, extend & hoist)
 Replaced manual hydraulic control valve block with electronic/manual mobile
control valve similar to those used on marine pedestal cranes.
 Added the MCCS control system and motion sensor
 Tested ship motion cancellation mode of crane mounted on 3 DOF motion platform
Modular Crane Control System (MCCS)
Preliminary testing of the full-scale MCCS on Motion Platform in the
ship motion cancellation mode can be seen in a short video at:
http://lei-lani.com
Scroll to the bottom of the page and select the link “MCCS Video”
Craft Engineering Associates, Inc.
2102 48th Street
Hampton, VA 23661
[email protected]
(757) 825-1516