This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Similar articles in ISI Web of Science Alert me to new issues of the journal Add to Saved Citations Download to citation manager Add to My Marked Citations Citing Articles Citing Articles via HighWire Citing Articles via ISI Web of Science (5) Citing Articles via Google Scholar Google Scholar Articles by Masoud, Z. N. Articles by Nayfeh, N. A. Search for Related Content Social Bookmarking                   What's this?

Sway Reduction on Quay-side Container Cranes Using Delayed Feedback Controller: Simulations and Experiments

Department of Engineering Science and Mechanics, MC 0219, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA, zmasoud{at}vt.edu

Ali H. Nayfeh

Department of Engineering Science and Mechanics, MC 0219, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA

Nader A. Nayfeh

Department of Engineering Science and Mechanics, MC 0219, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA

Traditionally, a container crane is modeled as a simple pendulum with either a flexible or a rigid hoisting cable, and a lumped mass at the end of the cable. However, in the case of quay-side container cranes, the actual configuration of the hoisting mechanism is significantly different; it consists typically of a set of four hoisting cables. The cables are hoisted from four different points on a trolley and are attached on the load side to four points on a spreader bar used to lift containers. A controller design based on the actual model will most likely result in a response superior to those based on simple pendulum models. In this paper, we develop a mathematical model of the actual quay-side container crane. A simplified model is then used to obtain the gain and time delay for a delayed feedback controller, which will be used for the control of payload sway oscillation. Performance of the controller is simulated on a 1/10th scale computer model of a 65 ton container crane using the full model. Simulation results are verified experimentally on a 1/10th scale model of the same container crane.

Key Words: Quay-side • container crane • sway control • delayed feedback

CiteULike    Connotea    Del.icio.us    Digg    Reddit    Technorati    What's this?

This article has been cited by other articles:

				T. Erneux and T. Kalmar-Nagy Nonlinear Stability of a Delayed Feedback Controlled Container Crane Journal of Vibration and Control, May 1, 2007; 13(5): 603 - 616. [Abstract] [PDF]