Oscillation Control of Quay-Side Container Cranes Using Cable-Length Manipulation

[+] Author and Article Information
Ziyad N. Masoud

Mechanical Engineering Department, The Hashemite University, Zarqa 13115, Jordan

J. Dyn. Sys., Meas., Control 129(2), 224-228 (Jul 26, 2006) (5 pages) doi:10.1115/1.2432362 History: Received May 15, 2005; Revised July 26, 2006

Cranes play a very important role in the shipping industry. As a result there is an increasing demand on faster and safer cranes. Inertial forces on crane payloads due to crane-commanded trajectories can cause payloads to experience large sway oscillations. Consequently, sway control on quay-side container cranes is becoming a requirement rather than a luxury. Some modern quay-side container cranes use independent front and rear hoisting cables. This degree of freedom can be utilized to control payload sway oscillations. In this work, a delayed feedback algorithm is used to produce a controlled differential change in the length of the front and rear hoisting cables of a typical quay-side container crane to reduce payload sway.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

Typical quay-side container craue

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Figure 2

Schematic model of the hoisting mechanism of a quay-side container crane

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Figure 3

Simplified model of a container crane

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Figure 4

Effect of the parameter ζ on the boundaries of stability

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Figure 5

Damping parameter μ as a function of k and γ. The darker areas correspond to higher damping.

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Figure 6

Simulated crane maneuver



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