A multi degree of freedom mathematical model including nonlinear restoring forces is used to perform numerical simulations of a crane vessel's motion. The hull and the load are represented by rigid bodies. Hydrodynamic fluid loading on the hull is described by a linearized diffraction/radiation model. Qualitative changes in the motion of the crane vessel are determined by means of local bifurcation analysis. An experimental setup is used for verification. It consists of a model of a moored crane barge excited by regular waves in a wave tank. Several sensors allow for the determination of the position and orientation of the vessel, the motion of the swinging load relative to the hull and the height of the waves. The influence of different parameters is studied with respect to the crane vessel's dynamics.
The results of the investigations will be used for evaluating crane operations and for the development of passive and active damping devices of load swing.