1. Modular Crane Control System (MCCS)
Craft Engineering Associates, Inc.
Hampton, VA
Principal Investigator: Dr. J. Dexter Bird, III
Contract # N C-4167
TPOC: Dr. Frank Leban
NSWCCD/PEO-SHIPS
Sponsor: Robert Mitchell
Phase II SBIR
Interim Status
Topic #N06-057
Cargo Transfer From
Offshore Supply Vessels
To Large Deck Vessels
March 7, 2014

2. Modular Crane Control System (MCCS)
Objective:
To develop and demonstrate a modular solution for crane pendulation and motion control suitable for a wide range of US Navy shipboard cranes, particularly hydraulic, extending-boom, pedestal cranes, like those on the JHSV for boat and cargo handling.
Full-scale, commercial, extending-boom, hydraulic
crane, modified with MCCS components and
tested on 100 ton, 3 DOF motion platform

3. Modular Crane Control System (MCCS)
An Appleton Marine EB crane, like those on the JHSV, is typical of marine pedestal cranes. A 1/9th scale model was built to develop the modular pendulation control concept and tested on a six DOF motion platform at Michigan Technological University in Houghton, Michigan.
1/9th Scale Model Crane

4. MCCS Key Features
Sensors – Develop a standard set of rugged sensors that can be easily integrated with a variety of marine cranes.
Drive System Modifications – Identify existing drive system dynamics and provide remote valve actuation for closed loop capability.
Control and Interface Hardware – Develop a system that can integrate with typical off-the-shelf crane control hardware.
Control System – Develop algorithms to utilize available crane control to cancel ship motion, damp residual swing and respond to operator commands.

5. Modular Crane Control System (MCCS)
Block Diagram
Operator
Inputs
Boom Tip
Motions
Payload
Motion
Crane
Hardware
Pendulum
Dynamics
Ship Motion
Crane Control
Interface
Crane Geometry
Sensors
Payload
Sensor
Ship
Motion
Sensor
MCCS
Control Algorithm
Activate MCCS

6. Modular Crane Control System (MCCS)
Operating Modes:
Manual Mode
Crane operates by joystick commands from the operator as a standard commercial crane with no augmentation
Ship Motion Cancellation
MCCS monitors ship motion and crane geometry and adjusts crane axes to minimize motion of the boom tip
Heave Compensation
MCCS adjusts the hoist to minimize vertical motion of the hook block and cargo
Swing Damping
MCCS monitors residual load pendulation and acts to reduce lateral excursions of the payload

7. Modular Crane Control System (MCCS)
Work Accomplished
Scale Modeling
Designed & fabricated a 1/9th scale, electrically powered, model of the JHSV crane
Instrumented the crane axes and provided computer system control
Testing was conducted on motion platform at Michigan Tech
Full Scale Testing
Acquired a 15-ton Galion, mobile, extending-boom, hydraulic crane (the upper rotating structure simulates a marine pedestal crane)
Instrumented the four axes (luff, slew, extend & hoist)
Replaced manual hydraulic control valve block with electronic/manual mobile control valve similar to those used on marine pedestal cranes.
Added the MCCS control system and motion sensor
Tested ship motion cancellation mode of crane mounted on 3 DOF motion platform

8. Modular Crane Control System (MCCS)
Preliminary testing of the full-scale MCCS on Motion Platform in the ship motion cancellation mode can be seen in a short video at:
Scroll to the bottom of the page and select the link “MCCS Video”
Craft Engineering Associates, Inc.
th Street
Hampton, VA 23661
(757)