Active Heave Compensation for Operation of Crane on Vessel

Abstract

This paper deals with the heave compensation system of a payload which is lowered by a crane on a vessel. Active and passive heave compensation systems are used in the field. Active heave compensation system, which contains feedback control systems, can provide a wider range of operating weather conditions than passive heave compensation systems. This paper is focused on the active heave compensation system which is actuated by electric devices. Normaly PD control system is adopted as a feedback control system. In this paper a model-based control algorithm, namely RMAC(Resolved Motion and Acceleration Control), is used as feedback control system and a PD control algorithm is also used to compare each othor. The performance of the present active heave compensation systems are evaluated with simulation.