WANG Sheng-hai^a, CHEN Hai-quan^*a, SUN Yu-qing^a,Qiao Wei-liang^a . The principle and kinetic model of a new offshore crane comprehensive compensation system[J]. Journal of Dalian Maritime University, 2015 , 41(1) : 37 -41 . DOI: 10.16411/j.cnki.issn1006-7736.2015.01.008

［1］GRIMBLE M, PATTON R, WISE D. The design of dynamic positioning control systems using stochastic optimal control theory ［J］. Optimal Control Appl Methods, 1980, 1(2): 167-202. ［2］FOSSEN T I, STRAND J P. Nonlinear passive weather optimal positioning control (WOPC) system for ships and rigs: Experimental results ［J］. Automatica, 2001, 37(5): 701-715. ［3］徐小军，陈循，尚建忠. 一种新型主动式波浪补偿系统的原理及数学建模［J］. 国防科技大学学报, 2007, 29(3): 118-122. XU Xiao-jun, CHEN Xun, SHANG Jian-zhong. The principle and mathematical modeling of a new active heave compensation system ［J］. Journal of National Univercity of Defense Technology, 2007, 29(3): 118-122. (in Chinese) ［4］WEN B, HOMAIFAR A, BIKDASH M, et al. Modeling and optimal control of shipboard crane［C］// Proceedings of IEEE, American Control Conference. San Diego, CA: IEEE Press, 1999: 593-597. ［5］STEVEN F N, MAX D P, LEI L L, et al. Integrated and automated control of a crane's rider block tagline system : United States, 6039193 ［P］. 2000-03-21. ［6］PARKER G G, PETTERSON B, DOHRMAN C, et al. Command shaping for residual vibration free crane maneuvers ［C］//Proceedings of the American Control Conference. Seattle, WA: IEEE Press, 1995, 1: 934-938. ［7］KOPPERT P M. Motion compensation device for compensating a carrier frame on a vessel for water motion：Netherland，WO 2010/114359 A1［P］. 2009-04-03. ［8］CRAIG J J. Introduction to robotics and mechanics and control［M］. 3rd ed. London: Prentice Hall, 2004.