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Skew control of a quay container crane

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Abstract

In this paper, the skew control of the load (container) in the quay crane used in the dockside of a container terminal is investigated. The mathematical model of the 3-dimensional (3D) motions of the load is first derived. The container hooked to a spreader is suspended by four ropes in air. When the container is accelerated by the trolley or is disturbed by winds, it will make a rotational motion (trim, list, and skew) as well as a sway motion in the vertical plane. In such a case, the position of the container becomes difficult to control accurately due to the rotational motion even with the sway motion under control. This paper proposes an input shaping technique for the skew control based on the 3D dynamics of the container. The adopted skew control system uses four electric motors to vary the length of the four ropes individually. Simulation results show the effectiveness of the proposed system in controlling the skew motion.

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Authors and Affiliations

  1. School of Mechanical Engineering, Pusan National University, Busan, 609-735, Korea

    Quang Hieu Ngo

  2. Department of Cogno-Mechatronics Engineering and School of Mechanical Engineering, Pusan National University, Busan, 609-735, Korea

    Keum-Shik Hong

Authors
  1. Quang Hieu Ngo
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  2. Keum-Shik Hong
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Corresponding author

Correspondence to Keum-Shik Hong.

Additional information

This paper was recommended for publication in revised form by Associate Editor Kyung-Soo Kim

Quang Hieu Ngo received the B.S. degree in mechanical engineering from Ho Chi Minh City University of Technology, Vietnam, in 2002, the M.S. degree in mechatronics from Asian Institute of Technology, Thailand, in 2007. He is currently a Ph.D. candidate in the School of Mechanical Engineering, Pusan National University, Korea. His research interests include port automation, control of axially moving systems, adaptive control, and input shaping control.

Keum-Shik Hong received the B.S. degree in mechanical design and production engineering from Seoul National University in 1979, the M.S. degree in ME from Columbia University in 1987, and both the M.S. degree in applied mathematics and the Ph.D. degree in ME from the University of Illinois at Urbana-Champaign in 1991. Dr. Hong serves as Editor-in-Chief of the Journal of Mechanical Science and Technology. He served as an Associate Editor for Automatica (2000–2006) and as an Editor for the International Journal of Control, Automation, and Systems (2003–2005). Dr. Hong received Fumio Harashima Mechatronics Award in 2003 and the Korean Government Presidential Award in 2007. His research interests include nonlinear systems theory, adaptive control, distributed parameter system control, robotics, and vehicle controls.

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Ngo, Q.H., Hong, KS. Skew control of a quay container crane. J Mech Sci Technol 23, 3332–3339 (2009). https://doi.org/10.1007/s12206-009-1020-1

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  • DOI: https://doi.org/10.1007/s12206-009-1020-1

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