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<p>In this dissertation a control scheme that provides motion compensation for  a ship-based two-crane system suspending a single payload is developed. Historical  experience during the conflict in Vietnam, along with the introduction of standard  containerized packaging have steered military sustainment logistics towards a reliance  on commercially developed cranes for discharge of containers - even for instream  lightering operations. With the inclusion of Seabasing as one of the Navys pillars,  there has been a resurgence in interest in cargo transfer technology. While several  approaches to the movement of individual containers have been pursued, there has  not been a similar focus on the handling of outsize cargo in the military logistics-overthe-  shore (LOTS) operating environment. In the body of this work is an algorithm  for the coordinated control of two cranes to facilitate the movement of cargo. The  use of multiple cranes may be required by either the geometric extent or the weight  of the cargo. The kinematic chain is developed for the incompletely-restrained cablesuspended  system that describes this system. With the inclusion of the dynamics of  the system to fully describe the force and moment constraints, the equations of motion  can be inverted to yield expressions that relate desired payload motion to crane control  inputs. The presence of seaway induced motions on the ship platform introduces  disturbances that must be accounted for in the kinematics of the ship-attached crane  reference frame and be compensated for by the dual-crane system. Without this  motion compensation, the operational capability is limited by the environment. With  this system the payload is isolated from the ship motion and held fixed in inertial  space. The weighted-norm method used to derive the solution allows for distribution  of the actuation effort of the system, which could be useful in actual operations of the  cranes onboard a vessel and provides an opportunity for optimization by judicious  selection of the weighting matrix. Future development of coordinated control for  dual-crane systems may also employ trajectory planning to automate the movement  of large payloads. Results from a MATLAB/Simulink simulation and selected results from a  1/32nd-scale model are presented to illustrate the concepts developed.
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<br>Subjects: Shipboard Cranes; Motion Compensation; Inverse Kinematic Control; Minimum Norm Solution; Logistical Operations</div>
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Leban, Frank A.</div>
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