NDLI: Orientation control of a crane's spreader: Application on mobile harbor

Content Provider	IEEE Xplore Digital Library
Author	Quang Hieu Ngo Yonggyun Yu Eun Ho Kim In Gwun Jang Keum-Shik Hong
Copyright Year	2011
Description	Author affiliation: School of Mechanical Engineering, Pusan National University, Busan 609-735, Korea (Quang Hieu Ngo; Keum-Shik Hong) \|\| Korea Advanced Institute of Science and Technology, Daejeon 305-732, Korea (Yonggyun Yu; Eun Ho Kim; In Gwun Jang)
Abstract	In this paper, the orientation control (trim, list, and skew control) of the load (container) in the crane located in the mobile harbor (MH) is investigated based on the derived mathematical model of the four-rope crane. A container hooked to a spreader is suspended in air by four ropes. When the container is accelerated by the trolley or is disturbed by winds, it rotates (trim, list, and skew) as well as sways in the vertical plane. When this happens, the accurate positioning of the container becomes difficult because of the rotation even with the swaying under control. This paper proposes a feedback control technique for the orientation control of the container based on the dynamics of the spreader including the container. The adopted control system uses four actuators that vary the lengths of the four ropes, respectively. Experiments are performed with a 1/20 scale MH, in which four snag devices are used, instead of the ball screws as a conventional crane in practice, to vary the rope lengths.
Starting Page	510
Ending Page	515
File Size	920646
Page Count	6
File Format	PDF
ISBN	9781457708350
ISSN	20937121
e-ISBN	9788993215038
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-26
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	ICROS
Subject Keyword	Cranes Mobile harbor Containers Container crane Lyapunov stability Control systems Vectors Snag device Feedback control Mathematical model Marine vehicles Equations
Content Type	Text
Resource Type	Article

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