Research on Dynamic Modeling and Control of the Quayside Container Crane Based on Port Operational Transportation Efficiency

Quayside container cranes play an important role in port operations. The container transportation work of quayside container crane is often accompanied by the swing of the load, which not only affects the positioning accuracy of the container, but also reduces the efficiency of cargo transportation. The traditional dynamic modeling and control methods simplify the quay crane weight to a single particle, but in practice, the container and its spread size is large, which will greatly reduce the control performance in practical application. Based on the theory of analytical dynamics, this paper derives the kinetic equation of the quay crane considering the double pendulum effect. Then, from the perspective of energy, the model tracking error is calculated and the appropriate control gain is given to the error, the passive controller is designed to suppress the swing to improve the operation efficiency, and the performance of the closed-loop control system is analyzed. Finally, a virtual prototype based on ADAMS and MATLAB/Simulink co-simulation platform is built to verify the validity of the proposed dynamic model and control method.