Proceedings of the 30th International Conference on Ocean, Offshore and Arctic Engineering
OMAE 2011
CALCULATION OF FLOATING CRANE NATURAL FREQUENCIES BASED ON
LINEARIZED MULTIBODY DYNAMICS
Ivan Ćatipović
University of Zagreb, Faculty of Mechanical
Engineering and Naval Architecture
Zagreb, Croatia
Duje Veić
University of Zagreb, Faculty of Mechanical
Engineering and Naval Architecture
Zagreb, Croatia
ABSTRACT
Natural frequencies and modes of a floating crane with a
suspended load are studied. Both the floating crane and the
suspended load are modeled as rigid bodies with six degrees of
freedom. The suspended load is considered to be partially
immersed in the sea water. A wire rope for load suspension is
assumed to be non-extensible and without bending stiffness.
Linearized governing equations for a coupled dynamic
response are derived based on the multibody system dynamics
with small displacements assumption. An added mass for the
floating crane as well as the partially immersed load is
determined using traditional potential theory and tree-
dimensional boundary element method (in a frequency
domain). Mapping from the frequency to the time domain is
necessary to determine the correct added mass value for
calculating above described natural frequencies and modes. A
damping of the overall system can be calculated as some small
portion of a critical damping. A numerical example is based on
the floating crane during positioning of precast concrete piles.
These piles are main part of foundations for over sea bridges.
INTRODUCTION
Excessive floating crane motions in waves cause
exceeding of allowable crane beam tip accelerations and crane
tilt thus preventing the lift. Usually, some kind of resonance is
main cause of these excessive motions. The first step in
avoiding the resonance is natural frequencies determination of
the considered system.
Calculation procedure for natural frequencies and modes
of a floating crane with a suspended load is presented in this
June 19-24, 2011, Rotterdam, The Netherlands
OMAE 2011-49303
Većeslav Čorić
University of Zagreb, Faculty of Mechanical
Engineering and Naval Architecture
Zagreb, Croatia
paper. The floating crane and the suspended load are
considered as rigid bodies with 6 degrees of freedom. A wire
rope for load suspension is assumed to be non-extensible and
without bending stiffness. Governing equations for the coupled
dynamic response are derived based on multibody system
dynamics within small displacements assumption. Nonlinear
terms are not taken into account. As a result, linearized motion
equations takes the form of differential equation system of
second order. Thus, it is possible to formulate eigenvalue
problem and to determine natural frequencies and modes. A
numerical example is based on the floating crane during
positioning of precast concrete piles.
Dynamics of crane loads was presented by Witz [1]. He
investigated the parametric excitation of loads suspended from
crane vessels in random seas. A time domain numerical solution
of equation of motion is used. The system is described by the
six rigid body degrees of freedom of the vessel, together with
the three orthogonal displacements of the lift mass. Clauss and
Vannahme [2] presented a comparative overview of the
operation capabilities of different crane vessel types. They
demonstrated that the dynamic behavior of moored floating
cranes can be treated as being linear over a wide range of
applications. However, the coupled system of floating structure
and swinging load showed distinctly nonlinear phenomena and
occurrence of parametric oscillations. Karl & Kreuzer [3]
studied offshore structures as multibody systems. They have
taken into account fluid structure interaction for floating or
fully submerged bodies. Ellermann & Kreuzer [4] investigated
the nonlinear dynamics of a floating crane. They observed
system consisting of the hull with crane, the load and a
1 Copyright © 2011 by ASME
nonlinear mooring system. Different mathematical tools were way, excessive floating crane motions in sea waves can be
used to investigate resonances and subharmonic motions. Cha reduced by avoiding the resonance.
et al. [5] performed the dynamic response simulation of heavy
cargo suspended by a floating crane. The dynamic equation of
motions was set up for considering the six d.o.f. floating crane
and the six d.o.f. cargo based on multibody system dynamics. MATHEMATICAL MODEL
The nonlinear terms in the equation of motion was considered.
Unlike researches that can be found in the literature, the Displacements Compatibility
mathematical model from this study takes into account the Relationship between the floating crane displacements and
hydrodynamic reactions on partial immersed load, which is the suspended load displacements must be defined in order to
considered as rigid body with six d.o.f. However, researches achieve the coupled analysis. This relationship is usually called
from the literature contain more sophisticated nonlinear models a displacements compatibility and in this case is formulated
(that can be used to evaluate auto-parametric excitation of using Fig. 1, where:
floating crane which can lead to Mathieu instability). On the
other hand, the linearized model form this study is adapted to
set classical eigenvalue problem in order to define natural
frequencies and modes of the floating crane with suspended
load (as the first step in avoiding resonance). In such practical

FIG. 1 RELATION BETWEEN DISPLACEMENTS OF THE FLOATING CRANE AND THE SUSPENDED LOAD

2 Copyright © 2011 by ASME

- 0xyz - fixed Cartesian coordinate system
C C
( )
+ [C C 21 ] x C + [C C 22 ] α C = p C + α C × p C × F CW (4)
- C , C - initial and current center of gravity of the floating
G G

crane, respectively where superposed dot denotes differentiation with respect to

- C GL , C GL - initial and current center of gravity of the
suspended load, respectively
- P C , P C - initial and current connection point on the floating
crane, respectively
- P L , P L - initial and current connection point on the
time. Eq. (3) is force equilibrium of the floating crane, while
eq. (4) represents moment equilibrium with respect to CGC ,
where :
- [M C11 ], [M C12 ], [M C 21 ], [M C 22 ] - parts of the total mass matrix
[M ] of the floating crane; [M ] dimension is 6×6
C C

suspended load, respectively - [B ], [B ], [B ], [B ] - parts of the damping matrix [B ]

C 11 C 12 C 21 C 22 C

- r C - position vector of CGC in 0xyz - [C ], [C ], [C ], [C ] - parts of the total stiffness matrix

C 11 C 12 C 21 C 22

- x C , α C - translational and angular displacements vector of the

[C ] containing hydrostatic stiffness and linearized
C

mooring stiffness
floating crane, respectively
- F CW
- force in P C due to the wire rope, see Fig. 2
- x L , α L - translational and angular displacements vector of the
suspended load, respectively
- p C - position vector of P C in regard to CGC
- p L - position vector of P L in regard to CGL
- pW - position vector of P L in regard to P C
- α W - angular displacements vector of the wire rope

According Fig. 1, the displacements compatibility is

formulated for CGL as follows

r C + p C + pW − p L + x L =
= r C + x C + p C + α C × p C + pW + α W × pW − α L × p L − p L (1)

where × denotes vector product.

Left and right hand side of eq. (1) represents two separate
ways reaching CGL . Finally, from displacements compatibility
eq. (1) it can be obtained a simplified equation given by:
x L = x C + α C × p C + α W × pW − α L × p L (2)
It should be noted that vectors p and p are assumed to W L

be vertical i.e. parallel to z - axis of the 0xyz coordinate system.

Dynamics of the Floating Crane

Dynamics of the floating crane is represented by two
FIG. 2 FORCE ON THE FLOATING CRANE DUE TO THE
( )
vector equations, as follows:
WIRE ROPE F CW
[M ] &x& + [M ] α&& + [B ] x& + [B ] α&
C 11 C C 12 C C 11 C C 12 C
+
Eqs. (3) and (4) draw up a common form of motion
+ [C ] x + [C ] α = F
C 11 C C 12 C CW
(3) equations for a floating body with six d.o.f. These particular
and forms are chosen to facilitate the derivations which are
[M ] &x& + [M ] α&& + [B ] x& + [B ] α&
C 21 C C 22 C C 21 C C 22 C
+
presented further on.

3 Copyright © 2011 by ASME

 The total mass matrix [M C ] contains a part of where AWL is waterplane area of the suspended load. The
hydrodynamic reactions of the floating crane known as added simplified form in eq. (7) does not take into account the shift of
mass. Radiational damping is also a part of hydrodynamic the center of buoyancy due to inclination of the suspended
reactions and is the basis for the damping matrix [B C ] . Added load.
mass and radiational damping are usually defined in the By combining eqs. (5), (6) and (7) and by neglecting
frequency domain, using traditional potential theory and tree- nonlinear terms final form of the equilibrium equations is
dimensional boundary element method [6]. On the other hand, obtained, as follows
eqs. (3) and (4) are valid for the time domain, and are suitable
for calculation of natural frequencies. Thus, it is necessary to [M ] &x& + [M ] α&& + [B ] x& + [B ] α& + [C ] x
L11 L L12 L L11 L L12 L L11 L
=
use procedure for calculation of the added mass and the
radiation damping in time domain based on frequency domain = F LW + G L + F LB , 0 (9)
data. The above procedure is presented further in the paper. It and
should be noted, such procedure is nonlinear in the case of the [M ] &x& + [M ] α&& + [B ] x& + [B ] α&
L 21 L L 22 L L 21 L L 22 L
+
radiational damping. Thus, the damping of the overall system
can be calculated as some small portion of the critical damping. + F LB , 0 × (α L × p LB ) = ⎛⎜ p L + α L × p L ⎞⎟ × F LW (10)
⎝ ⎠
Dynamics of the Suspended Load
The suspended load dynamics is represented in similar
manner as for the floating crane dynamics, as follows:

[M ] &x& + [M ] α&& + [B ] x& + [B ] α&

L11 L L12 L L11 L L12 L
=
=F LW
+G + FL LB
(5)
and
[M ] &x& + [M ] α&& + [B ] x& + [B ] α&
L 21 L L 22 L L 21 L L 22 L
=
(
= p +α × p × FL L L
) LW
(
+ p LB
+α × p L LB
)× F LB
(6)

where:
- [M L11 ], [M L12 ], [M L 21 ], [M L 22 ] - parts of the total mass matrix
[M ] of the suspended load with dimension 6×6
L

- [B ], [B ], [B ], [B ] - parts of the damping matrix [B ]

L11 L12 L 21 L 22 L

- F LW - force in P L due to the wire rope, see Fig. 3

- G L - weight vector of the suspended load
- F LB - buoyancy vector of the suspended load, see Fig. 3
- p LB - position vector of the center of buoyancy in regard to
CGL
Since the suspended load does not float at sea by it self, the
buoyancy vector is given in simplified form

F LB = F LB , 0 + [C L11 ] x L (7)
where F is initial buoyancy vector. Matrix [C
LB , 0 L11
] is a part
of the hydrostatic stiffness matrix, defined in form.

⎡0 0 0 ⎤
[C ] = ⎢⎢0
L11
0 0 ⎥⎥ (8)
⎢⎣0 0 L
AWL ⎥⎦ FIG. 3 FORCES ON THE SUSPENDED LOAD DUE TO THE
( )
WIRE ROPE F LW AND DUE THE BUOYANCY F LB ( )
4 Copyright © 2011 by ASME
Equilibrium of Forces and Moments on the Wire Rope
The wire rope for load suspension is assumed to be non-
extensible and without bending stiffness. Inertial and damping
forces are not considered. According Fig. 4 force and moment
equilibrium is given in the form:
F CW + F LW = 0
During the following derivations of these equations
nonlinear terms are neglected. Also, vector products of parallel
vectors are omitted.
First governing equation is obtained by summing eqs. (3)
and (5). After summing, eqs. (2) and (11) are used to achieve
(11) final form, as follows:

( [M ] + [M ] ) &x& + [M ] α&& + [M ] (α&& × p )+

and
(p W
)
+ α W × p W × F CW = 0 (12)
C 11 L11 C C 12 C L11 C C

or + [M ] (α&& × p ) + [M ] α&& − [M ] (α&& × p ) +

L11 W W L12 L L11 L L

(p W
+ α W × pW )× F LW
=0 (13) + ( [B ] + [B ] ) x& + [B ] α& + [B ] (α& × p ) +
C 11 L11 C C 12 C L11 C C

+ [B ] (α&& × p ) + [B ] α& − [B ] (α& × p ) +

L11 W W L12 L L11 L L

+ ( [C ] + [C ] ) x + [C ] α + [C ] (α × p ) = G
C 11 L11 C C 12 C L11 C C L
(14)

Eq. (14) can be considered as force equilibrium equation of the

multibody system consisting of the floating crane and the
suspended load.
Second governing equation is based on eq. (4). Unknown
force F CW is defined using eqs. (9) and (11) to obtain final
form, as given

[M ] &x& + p × [M ] &x& + [M ] α&&

C 21 C C L 11 C C 22 C
+ p C × [M L11 ] α&& C × p C + ( )
+ p × [M ] (α&& × p ) − p × [M ] (α&&
C L11 W W C L11 L L
)
× p + p × [M C L12
] α&& L
+

[B ] x& + p × [B ] x& + [B ] α& + p × [B ](α&& × p )+

C 21 C C L11 C C 22 C C L11 C C

+ p × [B ] (α& × p ) − p × [B ] (α& × p ) + p × [B ] α& +

C L11 W W C L11 L L C L12 L

[C ] x + p × [C ] x + [C ] α + p × [C ](α × p )+
C 21 C C L11 C C 22 C C L11 C C

FIG. 4 EQUILIBRIUM OF FORCES AND MOMENTS ON THE

WIRE ROPE
( )(
+ G L + F LB , 0 × α C × p C = p C × G L + F LB , 0 ) ( ) (15)

Eq. (15) is linearized form of the moment equilibrium equation

Linearized Multibody System Dynamics of the multibody system with respect to the current position of
The coupled motion of the floating crane and the the floating crane center of gravity, CGC .
suspended load is defined by 7 vector equations, presented in Third governing equation is obtained by combining eqs.
previous chapters. One of these equations is displacement (5) and (13), as follows:
compatibility eq. (2). Two equations come from the floating
crane dynamics (see eq. (3) and (4)) and two from the
suspended load dynamics (see eq. (9) and (10)). Remaining two
(
p W × [M L11 ] &x&C + p W × [M L11 ] α&&C × p C + p W × [M L11 ] α&&W × p W − ) ( )
equations are based on the force and moment equilibrium for − p × [M W L11
](α&& L
× p + p × [M
L
) W L12
]α&& L
+
the wire rope, see eqs. (11) and (12) or (13). Listed equations
are dependent on 7 unknown variables: floating crane (
p W × [B L11 ] x& C + p W × [B L11 ] α& C × p C + p W × [B L11 ] α& W × p W − ) ( )
displacements, x and α ; suspended load displacements, x
C C L
− p × [B W L11
](α& L
× p + p × [B
L
) W L12
]α& L
+
and α ; angular displacement of wire rope, α ; forces on
L W
(G L
+F LB , 0
)× (α W
×p W
)= 0 (16)
wire rope, F CW
and F . A multibody system containing two
LW

bodies has 12 d.o.f. In this particular case 12 degrees of Fourth governing equation is based on eq. (10). Unknown
freedom are determined by 4 three-dimensional vectors. These force F LW is formulated within eq. (9) to achieve final form, as
vectors are x , α , α and x . Thus, it is necessary to
C C W L
given
derive 4 vector equations that completely describe the coupled
motion of the floating crane with suspended load.

5 Copyright © 2011 by ASME

 [M ] &x& + [M ] &x&
L 21 C L11 C
× p L + [M L 21 ] α&& C × p C + ( ) M ij12 = M ijC12 + M ikL11ekjl plC (24)

( ) (
+ [M L11 ] α&& C × p C × p L + [M L 21 ] α&&W × p W + [M L11 ] α&&W × p W × p L − ) ( ) M 13
ij
=M L11
ik
e p
kjl
W
l
(25)

( ) (
− [M L 21 ] α&& L × p L − [M L11 ] α&& L × p L × p L + [M L12 ] α&& L × p L + ) M 14
ij =M L12
ij −M L11
ik kjle p l
L
(26)

[B ] x& + [B ] x& × p + [B ] (α& × p )+ =M + eikl p M

22 C 22 C L11 C
L 21 C L 11 C L L 21 C C
M ij ij k lp
e pjr p r (27)

+ [B ](α& × p )× p + [B ] (α& × p )+ [B ] (α& × p )× p M 23

ij = eikl p M C
k
L11
lp e pjr p W
r (28)
L11 C C L L 21 W W L11 W W L
−
M 24
ij = −eikl p M C
k
L11
lp e pjr p + eikl p M
L
r
C
k
L12
lj (29)

( ) (
− [B L 21 ] α& L × p L − [B L11 ] α& L × p L × p L + [B L12 ] α& L × p L + ) M 33
ij = eikl p M W
k
L11
lp e pjr p W
r
(30)

( ) + (α )( ) = −eikl p M e pjr p + eikl p M

34 W L11 L W L12
M (31)
+ F LB , 0 × α L × p BL × p L × G L + F BL , 0 = 0
L ij k lp r k lj
(17)
M 44
ij
=M C 22
ij
−M ik
e p − eikl M
L12
kjl l
L L11
kp
e pjr p p + eikl M
L
r l
L L12
kj
p l
L
(32)
Finally, obtained governing vector equations (14), (15), C =C 11
ij
C 11
ij +C L11
ij (33)
(16) and (17) can be presented in the form of differential
C =C
12 C 12
+C e p L11 C
(34)
equation system of the second order (consisting of 12 eq.) as ij ij ik kjl l

follows C =C
21
ij
S 21
ij + eikl p C S
k
C 11
lj
(35)
C =C
22 C 22
+ eikl p C e pjk p + eikl (G + Fk
C L11 C L LB , 0
)e p C
(36)
[M ]{δ&&}+ [B]{δ&}+ [C ]{δ } = { f }
ij ij k lp r k ljr r
(18)
C = eikl (G + Fk
33
ij
L
k
LB , 0
)e ljr
p W
r (37)
with
⎧ xC ⎫ C 44
ij = eikl Fk LB , 0
eljp p LB
p + eikl ekjp p (G + Fl L
p l
L LB , 0
) (38)
⎪ C⎪ and
{δ } = ⎪⎨α W ⎪⎬ (19) i, j, k, l, p, r = 1, 2, 3
⎪α ⎪ where eijk is Levi-Civita symbol.
⎪α L ⎪ Form of the damping matrix [B] is analogous to the mass
⎩ ⎭
matrix [M], see eqs. (14), (15), (16) and (17).
It should be noted that the mass matrix [M] has
⎧ GL ⎫ symmetrical form and that coupling of the eqs. system (18) is
⎪ C
{ f } = ⎪⎨ p × G + F
L LB , 0
( )
⎪
⎪
⎬ (20)
achieved only through this matrix. The stiffness matrix [C] is
not symmetrical due to third term in eq. (36). In other words,
⎪ 0 ⎪
⎪ ⎪ without this term stiffness matrix would be symmetrical. Also,
⎩ 0 ⎭ At the end, based on eqs. (18) eigenvalue problem can be
set for determination of natural frequencies and modes of the
where {δ } is displacement vector of the multibody system floating crane with suspended load. In this case load
(floating crane + suspended load), while { f } is the load vector. vector { f } , defined by eq. (20), can be neglected if position
Matrices [M], [B] and [C] are mass matrix, damping matrix and vectors p C , p L and p W are defined using statically balanced
stiffness matrix, respectively. Forms of [M] and [C] are given, initial position, as shown in Fig. 2.
using index notation:
Time Domain Hydrodynamics of a Floating Body
⎡[M 11 ] [M ] [M ] [M
12 13 14
]⎤ The objective of presented study is to calculate natural
⎢
[M ] = ⎢⎢
[M ] [M ] [M
22 23 24
]⎥⎥ (21)
frequencies and modes. In terms of the linearized model, each
symmetric [M ] [M 33 34
]⎥ natural mode of the multibody system can be considered as a
⎢
]⎥⎦⎥
harmonic motion. On the other hand, if added masses of
⎣⎢ [M 44
floating crane and suspended load are simply calculated in a
frequency domain then they are frequency dependant. In this
⎡[C 11 ] [C ] [0] [0] ⎤
12 case, a complex iterative procedure should be used to
[ ]
⎢ 21
[C ] = ⎢⎢ C
[C ] [0] [0] ⎥⎥
22

(22)
determine natural frequencies and modes. Therefore; the
problem is mapped to the time domain where described added
[0] [0] [C ] [0] ⎥ 33
masses are constant and there is no need for any kind of
⎢ ⎥
⎣⎢ [0] [0] [0] [C ]⎦⎥ 44
iterative procedure.
with For sake of simplicity, the floating crane and the suspended
load are assumed to be independent hydrodynamically.
M ij11 = M ijC 11 + M ijL11 (23)

6 Copyright © 2011 by ASME

 Hydrodynamics of a floating body in the time domain is masses should be incorporated into eq. (18) through total mass
defined by Cummins [7], in the following form matrices: [MC] and [ML], see eq. (3), (4), (5) and (6).
It should be noted that all components of damping matrix
( [M ] + [A ] ) {ξ&&(t )}+ [C ] {ξ (t )} +
m ∞ h
[B(ω )] decrease by increasing frequency ω. Similar, matrix
[K (t )] decreases by increasing time t. Therefore, integrals in
{ }
t

+ ∫ [K (t − τ )] ξ&(t ) d τ = {F (t )} (39) eqs. (40) and (41) can be numerically calculated.

0

where are:
NUMERICAL EXAMPLE
- {ξ (t )} - displacement vector of a floating body dependent on The calculation procedure is presented for the floating
time crane during positioning of precast concrete piles [9]. These
- [M m ] - mass matrix due to own mass of a floating body piles are main part of foundations for over sea bridges. In this
- [A∞ ] - added mass independent of frequency; or added mass particular case, the floating crane is consisting of a barge and a
for the time domain mounted onshore crane. Mooring system stiffness as well as
- [C h ] - hydrostatic stiffness matrix
damping is not considered. Main characteristics of the barge
are
- [K (t )] - matrix of impulse response functions (memory L= 78.50 m - overall length
function) B= 31.00 m - breadth
- {F (t )} - excitation forces vector D= 4.50 m - depth
T= 2.00 m - draught
It is shown in [7], that the impulse response function can Main characteristics of piles are
be calculated from the frequency dependent damping Lp = 100.00 m - length
coefficients [B(ω )] . Dp = 2.00 m - diameter
∞
mp = 203.10 t - mass
[K (t )] = 2 ∫ [B(ω )]cos (ω t ) d ω (40) Some other data can be found in Annex A.
π 0 Two set of calculations are carried out. In the first set the
Added mass in eq. (39) is defined by Ogilvie [8] as follows crane boom is in the center line of the barge facing stern. In the
second set crane boom is positioned 90° from the center line
∞ facing port side. Hydrodynamics calculations are done using
[A ] = [A(ω~)] + 1~ ∫ [K (t )]sin (ω~ t ) d t
∞
(41) Hydrostar [6]. Obtained numerical results are presented in
ω 0 following tables.
where are: It should be noted that these tables present natural modes
- A(ω ) - frequency dependent added mass of the multibody system obtained by linearized model.
- ω~ - arbitrary chosen frequency Therefore, presented displacements are normalized.
To properly carry out calculation of the coupled motions, it
is necessary to define added masses (for the time domain) of
the floating crane and the suspended load. Further, these added

TABLE 1 NATURAL FREQUENCIES AND MODES - CRANE BOOM FACING STERN

Natural Natural modes

No. frequency x C
α C
αW αL
[rad/s] [m] [rad] [rad] [rad]
1 0.338 0 0 0.988 0 0.002 0.005 0 -0.315 0 0 0 0
2 0.342 0 0 0 -0.149 0 0 -0.716 0 0 0.696 0 0
3 0.679 0 0 0 0.989 0 0 -0.164 0 0 0.321 0 0
4 0.836 0 0 0.001 0 0.018 0.117 0 0.005 0 0 0 0
5 0.867 0 0 0 0.001 0 0 0.250 0 0 0.069 0.050 0
6 3.223 0 0 0 0 1.000 -0.959 0 0.003 0 0 0 0
7 3.254 0 0 0 0.003 0 0 -0.610 0 0 -0.028 0.003 0

7 Copyright © 2011 by ASME

 TABLE 2 NATURAL FREQUENCIES AND MODES - CRANE BOOM FACING PORT SIDE

Natural Natural modes

No. frequency x C
α C
αW αL
[rad/s] [m] [rad] [rad] [rad]
1 0.332 0 0 -0.151 0.011 0.025 -0.164 -0.102 0 0 0.631 -0.260 0
2 0.341 0 0 0.011 0.148 0 0 -0.756 0 0 -0.273 -0.620 0
3 0.679 0 0 -0.072 -0.986 0 0 -0.173 0 0 -0.126 -0.289 0
4 0.836 0 0 0.001 0 0.018 -0.118 0 0.001 0 -0.004 0.002 0
5 0.867 0 0 -0.001 0.001 0 0 0.233 -0.362 0 -0.041 -0.031 0
6 3.227 0 0 0.000 0 1.000 0.958 0.019 0.001 0 -0.003 0 0
7 3.254 0 0 0 -0.004 0 0 -0.560 -0.011 0 0.009 0.034 0

[6] Bureau Veritas , 2010, “Hydrostar for Experts, v6.11 -

CONCLUSION User Manual”.
This paper presents a procedure for calculating natural [7] Cummins, W. E., 1962, “The Impulse Response
frequencies and modes of the floating crane with suspended Function and Ship motions”, Schiffstechnik.
load. This procedure can be integral part of the seakeeping [8] Ogilvie, T. F., 1964, “Recent Progress Toward the
analysis for a given offshore location. Using it can be Understanding and Prediction of Ship Motions”, Proc. of 5th
predicted occurrence of resonance, which cause excessive Symp. on Naval Hydrodynamic, 2-128.
movements of the floating crane and prevents lifting. [9] Čorić, V. and Slapničar, V., 2010, “Seakeeping
Foregoing consideration must take into account the wave Analysis of Crane Barge for Mali Ston channel”, Department
spectrum and its peak frequency, where is the most of wave of Naval Architecture and Offshore Engineering, FAMENA,
energy. Certainly, it is good to keep in mind the limitations of University of Zagreb, (in Croatian).
this procedure and that is based on linearized model.
In future work, the mathematical model can be raised to a
higher level if nonlinear terms are considered. In this way,
instabilities that occur on floating cranes (such as auto-
parametric excitation) can be estimated, which leads to better
assessment of the floating crane dynamic behavior during
exploitation.

REFERENCES
[1] Witz, J. A., 1994, “Parametric Excitation of Crane
Loads in Moderate Sea States”, Ocean Engineering, Vol. 22,
No. 4, pp. 411-420.
[2] Clauss, G. F. and Vannahme, M., 1999, “An
Experimental Study of the Nonloinear Dynamics of Floating
Cranes,” Proc. of 9th International Offshore Polar Engineering
Conference, Brest, France, Paper No. 99-JSC-343, Volume III,
pp. 511-518.
[3] Kral, R. and Kreuzer, E., 1999, “Multibody Systems
and Fluid-Structure Interactions with Application to Floating
Structures”, Multibody System Dynamics 3: 65-83, Kluwer
Academic Publisher, Netherlands.
[4] Ellermann, K. and Kreuzer, E., 2003, “Nonlinear
Dynamics in the Motion of Floating Cranes”, Multibody
System Dynamics 9: 377-387, Kluwer Academic Publisher,
Netherlands.
[5] Cha, J-H., Roh, M-I. and Lee, K-Y., 2010, “Dynamic
Response simulation of a Heavy Cargo Suspended by a
Floating Crane Based on Multy body system Dynamics”,
Ocean Engineering 33, pp. 1273-1291.

8 Copyright © 2011 by ASME

 ANNEX A- NUMERICAL EXAMPLE DATA

The barge and the mounted crane

(distance in [m], mass in [kg], force in [N]):

- total mass matrix (own mass + added mass)

⎡6.5 E + 6 0 − 1. 5 E + 5 0 1. 0 E + 7 0 ⎤
⎢ 6. 8 E + 6 0 − 2. 7 E + 6 0 − 5.3E + 4⎥⎥
⎢
⎢ 3. 4 E + 7 0 − 1.2 E + 5 0 ⎥
[M C ] = ⎢ 4 .2 E + 9 − 1 . 3 E + 4 1 . 8 E + 9
⎥
⎢ ⎥
⎢ symmetric 1.5 E + 10 5.7 E + 3 ⎥
⎢ ⎥
⎣⎢ 4.3E + 9 ⎦⎥

- hydrostatic stiffness matrix, [N/m] and [Nm/rad]

⎡0 0 0 0 0 0⎤
⎢ 0 0 0 0 0⎥⎥
⎢
⎢ 2.3E + 7 0 − 1.2 E + 7 0⎥
[C C ] = ⎢ 1.6 E + 9 0 0⎥
⎥
⎢
⎢ symmetric 1.2 E + 10 0⎥
⎢ ⎥
⎣⎢ 0⎦⎥

The concrete piles:

- total mass matrix (own mass + added mass)

⎡8.3E + 4 0 0 0 − 1.7 E + 6 0 ⎤
⎢ 8 . 3 E + 4 0 1 .7 E + 6 0 0 ⎥
⎢ ⎥
⎢ 4.5 E + 4 0 0 0 ⎥
[M L ] = ⎢ 1.1E + 8 0 0 ⎥
⎥
⎢
⎢ symmetric 1.1E + 8 0 ⎥
⎢ ⎥
⎣⎢ 4.3E + 4⎦⎥

- simplified stiffness matrix

⎡0 0 0 ⎤
[C ] = ⎢⎢0
L11
0 0 ⎥⎥
⎣⎢0 0 3.1E + 4⎦⎥

Position vectors, see Fig. 1.

p C = {-56.888 , 0.0, 99.297}T ,

for crane boom facing stern

p C = {-28.888 , 28.000 , 99.297 }T ,

for crane boom facing port side

pW = {0.0, 0.0 , -12.837}T

p L = {0.0, 0.0, 50.0}T

9 Copyright © 2011 by ASME