Resumen
Ship cargo-hold cleaning is a low-efficiency and high-risk operation in marine industry, which is generally carried out manually, putting the workers in danger. To improve the efficiency and safety of ship cargo-hold cleaning, a C-DCR is proposed in this article. Most research on the dynamics and control of CDPRs has focused on the scenarios with fixed bases; however, the effect of moving-base excitation on the end-effector is largely ignored. In this article, the dynamic model is established based on Lagrange method considering the ship motion and external disturbance, in which the motor model is considered. On this basis, for the high-speed maneuverability of the C-DCR, a modified PD feedforward tracking controller was proposed. Furthermore, the stability of the controller was proved with the Lyapunov Stability Theory. To keep the cable in tension at all times, the tensions are optimized based on the minimum 2-norm method. The simulation results show that the error mean of position is 0.22 m and the angular error mean is 2.8° under ship motion and external disturbance, indicating that the C-DCR has stable, smooth and bounded tracking performance, which will ensure the accuracy of the cleaning operation.