3D modeling visualization for studying controls of the jumbo container crane

The jumbo container cranes at the European Container Terminal in Rotterdam are subject of a long term study to automate the international seaport and make container handling more efficient. In the paper appropriate details of the 3D dynamical behavior of the container is modeled. Simulation and visualization are carried out to study the crane behavior under disturbing conditions like unbalanced center of gravity and varying side winds. The software is used to evaluate time-optimal trajectories and control schemes for the dynamics of the electrical drives, and of the swing and skew of the container.