Swing Reduction Control of Ship Crane Based on Rope Length Change

The article explores the critical issue of swing reduction in ship cranes, particularly focusing on marine cranes responsible for retracting and releasing work boats. It delves into the complex dynamics of under-actuated systems, highlighting the challenges posed by rope length changes and wave interference. The authors propose a sophisticated control strategy based on partial feedback linearization and PD control, which significantly reduces swing amplitude and stabilizes the work boat's position and attitude. The innovative approach considers the change in rope length, a factor often neglected in traditional control methods. The research is validated through comprehensive simulations, demonstrating the superior performance of the proposed control strategy compared to conventional PID methods. This article offers valuable insights and practical solutions for enhancing the safety and efficiency of marine crane operations.