Electro-mechanical modelling and load sway control of gantry cranes

Abstract EN

In this work, a nonlinear model representing the dynamics of the container sway of a gantry crane is derived.

The dynamics of the induction motors are also taken into consideration in addition to the simultaneous travelling, trolley and hoisting motions.

The data of an actual 45-ton gantry crane is used to simulate the behavior of the container under an actual transportation plan.

A simulation example is then presented to illustrate the uncontrolled system response.

The container sway is found to be high such that a control scheme has to be implemented to suppress the load sway.

A feedback control scheme is developed to suppress load sway.

The feedback control matrix is chosen such that the poles of the closed-loop system are arbitrary assigned.

The control scheme is applied and the simulation results illustrate the effectiveness of the proposed scheme.