Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison
Tomas Eglynas (Vilnius Gediminas Technical University, Klaipėda University, Lithuania)
Marijonas Bogdevičius (Vilnius Gediminas Technical University, Klaipėda University, Lithuania)
Arūnas Andziulis (Klaipėda University, Lithuania)
Mindaugas Jusis (Klaipėda University, Lithuania)
Marijonas Bogdevičius (Vilnius Gediminas Technical University, Klaipėda University, Lithuania)
Arūnas Andziulis (Klaipėda University, Lithuania)
Mindaugas Jusis (Klaipėda University, Lithuania)
Abstract
Quay cranes are used to move containers from ship to store in minimum time so that the load reaches its destination without payload oscillation. During the operations, containers are suspended by cables and it’s free to swing by motion. This paper investigates the two different velocity profiling techniques used for quay crane control and cargo stabilization. A laboratory scaled model of a crane is used to experimentally research, where the trolley acceleration is used as input, for suppressing the container sway. The residual cargo oscillation problems using different velocity profiles are discussed.
Article in:
English
Article published:
2017-07-04
Keyword(s): container crane; loading process; container oscillations; experimental analysis; control systems; velocity profiling; trapezoidal profile; S shaped profile.
DOI: 10.3846/mla.2017.1034
Science – Future of Lithuania / Mokslas – Lietuvos Ateitis ISSN 2029-2341, eISSN 2029-2252
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 License.