1 st Lab seminar Chap 1 Chap 2

1 st Lab seminar Chap 1: Chap 2: Introduction Concept Chap 3: Future work Q&A /18 Hybrid control of offshore crane combining active and passive means (Active control to maximize efficiency of passive system) Heechang Kim System Dynamics and Applied Control Laboratory Center for Noise and Vibration Control KAIST 2016. 8. 5 Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 2/16 Outlines Chapter 1. Introduction - Research background - Research motivation Chapter 2. Concept - Active control - Passive control Chapter 3. Future plan Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A Chapter 1. Introduction Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Chap 3: Concept Future work Q&A 4/16 Research background v There is strong demand for maritime logistics in country with growing industry. Also, structures such as oil platform, offshore wind power need a safe and rapid transfer. • payload suspended by cables is highly flexible • open sea environment - wind, wave • Wrong control of operator • Uneven distribution of the materials Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Chap 3: Future work Concept Q&A 5/16 Research background v Active controller for offshore crane • Open-loop control - input shaping technique → reduce effect of inertia - Susceptible to parameter • Closed-loop control - PID, LQ • Weakness - limitation with size and power of actuator - small robustness to disturbance Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Chap 3: Future work Concept Q&A 6/16 Research Motivation v Passive damping system for offshore crane • dissipate oscillation energy to reduce sway and skew motion • more simple and easy to combine with active system • Additional damping to system Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A Chapter 2. Concept Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 8/16 Active control Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 9/16 Active control [ref. Anti-sway Control of Movile Harbor Crane using Sub-trolley Control System, Dongho Kim, Youngjin Park, Youn-sik Park, Byungsoo Kim and Eunho Kim, 2010, Korean Society for Noise and Vibration Engineering, p 467~468] Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 10/16 Active control [ref. Anti-sway Control of Movile Harbor Crane using Sub-trolley Control System, Dongho Kim, Youngjin Park, Youn-sik Park, Byungsoo Kim and Eunho Kim, 2010, Korean Society for Noise and Vibration Engineering, p 467~468] Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 11/16 Active control v Example (PD control) • Recur. Dyn simulating (D 4 scale model) • Only roll, pitch motion • Wave condition with 0. 5 Hz, 5 degree [ref. Anti-sway Control of Movile Harbor Crane using Sub-trolley Control System, Dongho Kim, Youngjin Park, Youn-sik Park, Byungsoo Kim and Eunho Kim, 2010, Korean Society for Noise and Vibration Engineering, p 467~468] Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 12/16 Active control v Example (PD control) [ref. Anti-sway Control of Movile Harbor Crane using Sub-trolley Control System, Dongho Kim, Youngjin Park, Youn-sik Park, Byungsoo Kim and Eunho Kim, 2010, Korean Society for Noise and Vibration Engineering, p 467~468] Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 13/16 Passive control v A cable-passive damper system [ref. A Cable_Passive Damper System for Sway and Skew Motion Control of a Crane Spreader, La Duc Viet and Youngjin Park, 2015, Shock and Vibration] Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 14/16 Passive control v Coriolis damper [ref. Crane sway reduction using Coriolis force produced by radial spring and damper, La Duc Viet, 2015, Journal of Mechanical Science and Technology, p 973 ~ 979] Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 15/16 Passive control v Mass dynamic system(linear damping, Coriolis, gyro) [ref. A single mass dynamic vibration absorber producing linear damping, Coriolis damping and gyro-damping, La Duc Viet, 2015, Mechanical Engineering Science, p 506 ~ 513] Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 16/16 Passive control v Mass dynamic system(linear damping, Coriolis, gyro) [ref. A single mass dynamic vibration absorber producing linear damping, Coriolis damping and gyro-damping, La Duc Viet, 2015, Mechanical Engineering Science, p 506 ~ 513] Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A Chapter 3. Future works Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A 18/16 Future Works v Controller to maximize the efficiency of passive system • Not just position controller + passive controller • Minimize energy for active controller (consumption + harvest) v Simulation condition • Continuous disturbance Vs. Impulse • Type of crane • Offshore crane? Floating crane? Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST

1 st Lab seminar Chap 1: Introduction Chap 2: Concept Chap 3: Future work Q&A Thank you! Q&A Hybrid control of offshore crane combining active and passive means SDAC No. Vi. C KAIST