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RESEARCH PRODUCT
Analysis of Offshore Knuckle Boom Crane - Part One: Modeling and Parameter Identification
Morten K. BakMichael Rygaard Hansensubject
EngineeringComputerApplications_COMPUTERSINOTHERSYSTEMSBoomlcsh:QA75.5-76.95System modelcounterbalance valveKnuckleComponent (UML)multi-body systemmedicineHydraulic machinerybusiness.industrydirectional control valveControl engineeringMotion controlComputer Science ApplicationsHydraulic craneMechanical systemflexibilityIdentification (information)medicine.anatomical_structureControl and Systems EngineeringModeling and Simulationlcsh:Electronic computers. Computer sciencebusinessSoftwareMarine engineeringdescription
This paper presents an extensive model of a knuckle boom crane used for pipe handling on offshore drilling rigs. The mechanical system is modeled as a multi-body system and includes the structural flexibility and damping. The motion control system model includes the main components of the crane's electro-hydraulic actuation system. For this a novel black-box model for counterbalance valves is presented, which uses two different pressure ratios to compute the flow through the valve. Experimental data and parameter identification, based on both numerical optimization and manual tuning, are used to verify the crane model. The demonstrated modeling and parameter identification techniques target the system engineer and takes into account the limited access to component data normally encountered by engineers working with design of hydraulic systems.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2013-10-01 | Modeling, Identification and Control: A Norwegian Research Bulletin |