Command-shaping control of quayside cranes with eight-pole reeving mechanism

This paper discusses the residual vibration control problem of an eight-pole quayside container crane. The main purpose of the quayside crane is loading and un-loading of the containers from container ships, arriving at the container terminal, quickly while ensuring the safety of the shipments (containers), the machinery, and the personnel at the port. The residual vibrations of the containers, as they are transported to the target locations within the port, cause operational delays and therefore must be suppressed. In this paper, an open-loop control is utilized in transporting the containers to the desired locations while suppressing their residual vibrations. The actual hoisting mechanism of the quayside crane is considered in developing its mathematical model and in generating the shaped trolley-drive commands. Simulations were performed to demonstrate the validity of the proposed control laws.