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A Graphical Approach to Input-Shaping Control Design for Container Cranes With Hoist

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2 Author(s)
Masoud, Z.N. ; Dept. of Mech. Eng., Hashemite Univ., Zarka ; Daqaq, M.F.

A traditional input-shaping technique is adapted to control transfer maneuvers on quay-side container cranes. The controller is developed using an accurate two-dimensional four-bar-mechanism model of a container crane and accounts for maneuvers that involve large hoisting operations. A graphical representation of the phase plane of the payload oscillations is used to derive mathematical constraints to compute the switching times of a double-step acceleration profile that results in minimal transient and residual oscillations. In contrast with single-step shaped acceleration profiles which are very sensitive to frequency approximations, the proposed double-step profile is less sensitive to small variations in the frequency even for large trolley accelerations

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Control Systems Technology, IEEE Transactions on  (Volume:14 ,  Issue: 6 )