From: Implementation of interactive control of a crane ship model in MATLAB/Simulink environment
Body | Mass (kg) | Principal moments of inertia (kg m2) | Center of gravity coordinates (m) | ||||
---|---|---|---|---|---|---|---|
\({I}_{p1}\) | \({I}_{p2}\) | \({I}_{p3}\) | \(x\) | \(y\) | \(z\) | ||
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 |