Rate-based ship-mounted crane payload pendulation control system

Two active ship motion compensation strategies are discussed to stabilize the payload during operator-controlled at sea cargo transfer scenarios using ship-based cranes. A new ship motion sensing strategy is developed using only inertial measurement unit (IMU) information. The goal is to reduce the cost and complexity of the ship motion sensors, while improving the overall crane performance. A new rate-based control strategy is developed which directly computes required crane joint rates to isolate the payload from the ship motion. A high-fidelity ship-mounted crane simulation is used to numerically compare the control performance to an existing ship motion sensing strategy.