Sway Reduction on Quay-side Container Cranes Using Delayed Feedback Controller: Simulations and Experiments

2005 ◽  
Vol 11 (8) ◽  
pp. 1103-1122 ◽  
Author(s):  
Ziyad N. Masoud ◽  
Ali H. Nayfeh ◽  
Nader A. Nayfeh

Traditionally, a container crane is modeled as a simple pendulum with either a flexible or a rigid hoisting cable, and a lumped mass at the end of the cable. However, in the case of quay-side container cranes, the actual configuration of the hoisting mechanism is significantly different; it consists typically of a set of four hoisting cables. The cables are hoisted from four different points on a trolley and are attached on the load side to four points on a spreader bar used to lift containers. A controller design based on the actual model will most likely result in a response superior to those based on simple pendulum models. In this paper, we develop a mathematical model of the actual quay-side container crane. A simplified model is then used to obtain the gain and time delay for a delayed feedback controller, which will be used for the control of payload sway oscillation. Performance of the controller is simulated on a 1/10th scale computer model of a 65 ton container crane using the full model. Simulation results are verified experimentally on a 1/10th scale model of the same container crane.

Author(s):  
Ziyad N. Masoud ◽  
Nader A. Nayfeh ◽  
Ali H. Nayfeh

Traditionally, container cranes are modeled as a simple pendulum with a lumped mass at the end of a cable. In the case of large container cranes, the actual configuration of the hoisting mechanism is significantly different; it consists typically of a set of four hoisting cables. These cables are hoisted from four different points on the trolley and are attached on the load side to four points on a spreader bar used to lift containers. The dynamics of the actual hoisting assembly of a container crane is different from that of a simple pendulum. A controller design based on the actual model will more likely result in a response superior to those based on simple models. In this work, a nonlinear mathematical model of the actual container crane is developed. A delayed position-feedback controller is designed. Performance of the controller is simulated on a 1/10 scale model of a 65-ton container crane using the full nonlinear model. Simulation results are verified experimentally on a 1/10 scale model of the same container crane.


Author(s):  
Ziyad N. Masoud

Traditionally, a crane is modeled as a simple pendulum with a lumped mass at the end of a hoisting cable. However, in the case of quay-side container cranes the actual hoisting mechanism consists typically of a set of four hoisting cables. Modern quay-side container cranes use independent front and rear hoisting cables. This degree of freedom can be utilized to control payload sway oscillations. In this work, a delayed feedback algorithm is used to produce a controlled differential change in the length of the front and rear hoisting cables of a typical quay-side container crane.


Author(s):  
Fadi Alsaleem ◽  
Mohammad I. Younis

In this work, we investigate the stability and integrity of parallel-plate microelectromechanical systems resonators using a delayed feedback controller. Two case studies are investigated: a capacitive sensor made of cantilever beams with a proof mass at their tip and a clamped-clamped microbeam. Dover-cliff integrity curves and basin-of-attraction analysis are used for the stability assessment of the frequency response of the resonators for several scenarios of positive and negative gain in the controller. It is found that in the case of a positive gain, a velocity or a displacement feedback controller can be used to effectively enhance the stability of the resonators. This is confirmed by an increase in the area of the basin of attraction of the resonator and in shifting the Dover-cliff curve to higher values. On the other hand, it is shown that a negative gain can significantly weaken the stability and integrity of the resonators. This can be of useful use in MEMS for actuation applications, such as in the case of capacitive switches, to lower the activation voltage of these devices and to ensure their trigger under all initial conditions.


Informatica ◽  
2018 ◽  
Vol 29 (2) ◽  
pp. 233-249 ◽  
Author(s):  
Raimondas Čiegis ◽  
Olga Suboč ◽  
Remigijus Čiegis

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