Stabilization Controller Design of a Container Crane for High Productivity in Cargo Handling Using a RCGA

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.

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

Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C ◽

10.1115/detc2003/vib-48571 ◽

2003 ◽

Cited By ~ 2

Author(s):

Ziyad N. Masoud ◽

Nader A. Nayfeh ◽

Ali H. Nayfeh

Keyword(s):

Controller Design ◽

Model Simulation ◽

Feedback Controller ◽

Scale Model ◽

Lumped Mass ◽

Container Cranes ◽

Simple Pendulum ◽

Container Crane ◽

Large Container ◽

Actual Configuration

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.

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(1) Container Crane for Ocean Freight(Containerized Cargo Handling EquipmentMaterials Handling and Transporting Machinery)

Journal of the Society of Mechanical Engineers ◽

10.1299/jsmemag.79.695_952 ◽

1976 ◽

Vol 79 (695) ◽

pp. 952-955

Author(s):

Syuhzoh UNO

Keyword(s):

Special Issue ◽

Materials Handling ◽

Cargo Handling ◽

Container Crane

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Final report in summary of work on the selection and training of cargo handling teams for combat laden vessels. (OSRD, 1945; Publ. Bd., No. 15813.).

PsycEXTRA Dataset ◽

10.1037/e420752004-001 ◽

1946 ◽

Author(s):

F. L. Ruch

Keyword(s):

Final Report ◽

Cargo Handling ◽

And Training

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Research on selection of cargo handling teams. (OSRD, 1944; Publ. Bd., No. 15823.).

PsycEXTRA Dataset ◽

10.1037/e446822004-001 ◽

1946 ◽

Author(s):

F. L. Ruch ◽

A. Nace

Keyword(s):

Cargo Handling ◽

Selection Of

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Continuous Time Controller Design

IEE Review ◽

10.1049/ir:19910107 ◽

1991 ◽

Vol 37 (6) ◽

pp. 228

Author(s):

Stephen Barnett

Keyword(s):

Continuous Time ◽

Controller Design

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A modern technique for high productivity cold forging

Production Engineer ◽

10.1049/tpe.1962.0083 ◽

1962 ◽

Vol 41 (9) ◽

pp. 552 ◽

Cited By ~ 1

Author(s):

R. Hayward ◽

P.J. Mullins

Keyword(s):

Cold Forging ◽

High Productivity ◽

Modern Technique

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Changing the face of short fiber –a review of the eucalyptus revolution

TAPPI Journal ◽

10.32964/tj14.6.353 ◽

2015 ◽

Vol 14 (6) ◽

pp. 353-359 ◽

Cited By ~ 6

Author(s):

PETER W. HART ◽

RICARDO B. SANTOS

Keyword(s):

Fossil Fuels ◽

Wood Quality ◽

Short Fiber ◽

Fiber Volume ◽

Private Industry ◽

High Productivity ◽

Paper Manufacturing ◽

Short Rotation ◽

Eucalypt Plantations ◽

Eucalyptus Plantations

Eucalyptus plantations have been used as a source of short fiber for papermaking for more than 40 years. The development in genetic improvement and clonal programs has produced improved density plantations that have resulted in fast growing, increased fiber volume eucalypts becoming the most widely used source of short fibers in the world. High productivity and short rotation times, along with the uniformity and improved wood quality of clonal plantations have attracted private industry investment in eucalypt plantations. Currently, only a handful of species or hybrids are used in plantation efforts. Many more species are being evaluated to either enhance fiber properties or expand the range of eucalypt plantations. Eucalyptus plantations are frequently planted on nonforested land and may be used, in part, as a means of conserving native forests while allowing the production of high quality fiber for economic uses. Finally, eucalypt plantations can provide significant carbon sinks, which may be used to help offset the carbon released from burning fossil fuels. The development and expansion of eucalypt plantations represents a substantial revolution in pulp and paper manufacturing.

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VSB Blast Furnace Operation With High Productivity Using High Oxygen Enrichment

AISTech2019 Proceedings of the Iron and Steel Technology Conference ◽

10.33313/377/047 ◽

2019 ◽

Author(s):

P. Storti ◽

G. Cândido ◽

C. Machado ◽

M. Musso ◽

D. Almeida ◽

...

Keyword(s):

Blast Furnace ◽

Oxygen Enrichment ◽

Furnace Operation ◽

High Oxygen ◽

Blast Furnace Operation ◽

High Productivity

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Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

International Journal of Automotive and Mechanical Engineering ◽

10.15282/ijame.17.2.2020.18.0599 ◽

2020 ◽

Vol 17 (2) ◽

pp. 7996-8010

Author(s):

X. Wu ◽

Y. Yang

Keyword(s):

Control System ◽

Fuzzy Controller ◽

Controller Design ◽

Threshold Value ◽

Position Angle ◽

Path Tracking ◽

Global Coordinate System ◽

Automatic Guided Vehicle ◽

Input Variables ◽

Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

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