Phase II SBIR
Interim Status
Topic #N06-057
Cargo Transfer From
Offshore Supply Vessels
To Large Deck Vessels
March 7, 2014
Craft Engineering Associates, Inc.
Hampton, VA
Principal Investigator: Dr. J. Dexter Bird, III
Contract # N00024-11-C-4167
TPOC: Dr. Frank Leban
NSWCCD/PEO-SHIPS
Sponsor: Robert Mitchell
NSWCCD/PEO-SHIPS

Modular Crane Control System (MCCS)
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

Modular Crane Control System (MCCS)
An Appleton Marine EB230-49-33 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.
1/9 th Scale Model Crane

• 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.

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

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

Modular Crane Control System (MCCS)
Work Accomplished
Scale Modeling
 Designed & fabricated a 1/9 th 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

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: http://lei-lani.com
Scroll to the bottom of the page and select the link “MCCS Video”
Craft Engineering Associates, Inc.
2102 48 th Street
Hampton, VA 23661 craft@engineer.com
(757) 825-1516