Analysis of Offshore Knuckle Boom Crane - Part One: Modeling and Parameter Identification

This paper presents an extensive model of a knuckle boom crane used for pipe handling on oshore drilling rigs. The mechanical system is modeled as a multi-body system and includes the structural exibility and damping. The motion control system model includes the main components of the crane’s electro-hydraulic actuation system. For this a novel black-box model for counterbalance valves is presented, which uses two dierent pressure ratios to compute the ow through the valve. Experimental data and parameter identication, based on both numerical optimization and manual tuning, are used to verify the crane model. The demonstrated modeling and parameter identication techniques target the system engineer and takes into account the limited access to component data normally encountered by engineers working with design of hydraulic systems.

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