Modeling and Simulation of an Electromechanical System for a Hybrid Rubber Tire Gantry Crane

This paper presents study on the modeling of a Rubber Tire Gantry Crane (RTGC) used in container terminals for container handling. The electrical systems and mechanical systems are modelled by specific blocks from the Power System and Driveline block-sets while the control systems are modeled using Simulink. An “average modeling” approach is selected to simplify the operation of the motor drives and to speed up the simulation for tuning control parameters during long simulations. The model has the potential to be used for simulating a hybrid power pack, incorporating an energy management system for RTGC.