Modular Crane Control System (MCCS)

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Modular Crane Control System (MCCS)
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
Phase II SBIR Interim Status Topic
N06-057 Cargo Transfer From Offshore Supply
Vessels To Large Deck Vessels
March 7, 2014
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Modular Crane Control System (MCCS)
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.
Full-scale, commercial, extending-boom,
hydraulic crane, modified with MCCS components
and tested on 100 ton, 3 DOF motion platform
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Modular Crane Control System (MCCS)
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.
1/9th Scale Model Crane
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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.

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Modular Crane Control System (MCCS)
Block Diagram
Operator Inputs
Payload Motion
Boom Tip Motions
Crane Hardware
Pendulum Dynamics
Ship Motion
Crane Control Interface
Crane Geometry Sensors
Payload Sensor
Ship Motion Sensor
MCCS Control Algorithm
Activate MCCS
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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
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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

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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_at_engineer.com (757)
825-1516