Active heave compensation of a floating crane using electric drive

Floating cranes have shown their benefits in port operations and in offshore tasks. With the increase of offshore wind farms, installation and maintenance of the wind turbines require crane vessels for multiple tasks. In order to operate in open sea regardless the ocean waves, active heave compensation system is necessary to be installed. In this work an electric drive is proposed for active heave compensation of a floating crane, as more sustainable solution among other benefits. Dynamic model of a floating crane was derived for model based control. Different control algorithms were developed and numerically tested for efficiency.