To resolve the challenge of payload oscillation during offshore crane operations and to boost the lifting process’s efficiency and safety, the incorporation of magnetorheological (MR) technology into the anti-swing system of shipboard cranes is proposed. A parallel MR damper anti-swing system is designed. The dynamic model of the MR damper anti-swing system is established using robotics theory. A co-simulation analysis for the MR damper anti-swing system is carried out in MATLAB and Adams under irregular waves based on the JONSWAP spectrum. The performance of the MR damper anti-swing system under a fixed current, along with the accuracy of its dynamic model, has been confirmed through experiments on a physical prototype. To improve system robustness, a fuzzy sliding mode controller is designed by integrating fuzzy control theory into a sliding mode controller, implementing a time-varying current control strategy. Comparative results show that, with the MR anti-swing system, the swing angles (include out-plane and in-plane angle) of the payload are reduced by more than 80%, respectively.
Han et al. (Wed,) studied this question.