Implementation of interactive control of a crane ship model in MATLAB/Simulink environment

ROBOMECH Journal

Table 2 Inertia parameters of the model

Body	Mass (kg)	Principal moments of inertia (kg m²)			Center of gravity coordinates (m)
Body	Mass (kg)	\({I}_{p1}\)	\({I}_{p2}\)	\({I}_{p3}\)	\(x\)	\(y\)	\(z\)
Hull	21.4	0.541	5.580	6.052	0	0	0.015
Additional weight for balancing	9.76	0.044	0.007	0.043	0.656	0	0.010
Bridge	9.28	0.255	0.175	0.275	− 0.622	− 0.006	0.266
Crane	3.15	0.055	0.058	0.019	0.773	0.003	0.219
Boom	0.56	0.0001	0.033	0.033	0.313	0	0.483
Cable drum	0.001	8.424e−08	1.444e−07	1.678e−07	0.890	0	0.504
Pulley	0.001	5.140e−08	1.015e−07	5.143e−08	0.038	0	0.767
Hook	0	0	0	0	0.028	0	0.291
Suspended mass	0.16	2.310e−05	2.310e−05	2.310e−05	0.028	0	0.267