2-D Control of Payload on an Offshore Crane during Ship-to-ship Load Transfer Operation

Abstract

Offshore load transfer in rough sea conditions, especially when Ship-to-Ship, is risky due to the increasing demand for the acceleration system requirements and the restricted unloading area. This study proposes an efficient solution by integrating the combined Fuzzy and PID control systems for the vertical and horizontal control of payload movement, the sea environment with realistic irregular waves, and the crane model. With the Trajectory Route Control System, safe unloading is ensured by advancing in the desired vertical position, and the operation's speed route with horizontal positioning is realized. The simulation results revealed that the system model is a valid and successful solution.