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Deepwater lifting applications are becoming increasingly important for the oil and gas industry. The dynamic response of the lifting system, i.e. the rope and the attached payload, to the wave-induced motion of the crane tip is of great interest for subsea lifts in order to guarantee safety. In this paper, a nonlinear discrete model of the lifting system is presented, where nonlinear drag forces,...
This paper addresses the control of a crane rotator. A crane rotator can be considered as a mechanical nonlinear robot system. The crane rotator allows to control the skew angle of a spreader. Spreaders are used to grip containers in harbors. A complete concept for skew angle control is presented in this paper. Rotating the manipulator causes a torsional oscillation since the manipulator is suspended...
During subsea lifting operations in harsh sea conditions, the involved crane system is subjected to extensive dynamic forces due to vertical vessel motion. Thus, active heave compensation systems can be used to compensate for vertical vessel motion and to reduce forces acting on the crane structure. Furthermore, such systems allow an exact positioning of the load on the seabed. However, active heave...
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