Modular Crane Control System (MCCS)

Phase II SBIRInterim Status

Topic #N06-057

Cargo Transfer FromOffshore Supply VesselsTo Large Deck Vessels

Craft Engineering Associates, Inc.

Hampton, VA

Principal Investigator: Dr. J. Dexter Bird, III

Contract # N00024-11-C-4167

TPOC: Dr. Frank Leban

NSWCCD/PEO-SHIPS

Sponsor: Robert Mitchell

NSWCCD/PEO-SHIPS

March 7, 2014

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.

Modular Crane Control System (MCCS)

Full-scale, commercial, extending-boom, hydrauliccrane, modified with MCCS components and

tested on 100 ton, 3 DOF motion platform

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.

Modular Crane Control System (MCCS)

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.

OperatorInputs

Ship Motion

Crane Hardware

Boom TipMotions Pendulum

Dynamics

Payload Motion

Ship Motion Sensor

Crane ControlInterface

Crane GeometrySensors

MCCS Control Algorithm

PayloadSensor

Modular Crane Control System (MCCS)

Activate MCCS

Block Diagram

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

craft@engineer.com

(757) 825-1516