Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison

Abstract

Quay cranes are used to move containers from ship to store in minimum time so that the load reaches its destination without payload oscillation. During the operations, containers are suspended by cables and it’s free to swing by motion. This paper investigates the two different velocity profiling techniques used for quay crane control and cargo stabilization. A laboratory scaled model of a crane is used to experimentally research, where the trolley acceleration is used as input, for suppressing the container sway. The residual cargo oscillation problems using different velocity profiles are discussed.

Single-Axis, Spin-to-Spin Slew Maneuvers Under a Finite Jerk Constraint

“…V ARIOUS research topics associated with single-axis slew maneuvers have been investigated in diverse applications, such as robotic manipulators, computer disk drives, cranes, and space vehicles [1][2][3][4][5]. Because rapid slew maneuvers are frequently required during operation in applications, control approaches to minimize slew and settling times have received significant attention [1][2][3][4][5][6][7][8][9][10][11][12][13]. Among these approaches, a control scheme combining feedforward control inputs with a feedback tracking controller has been considered an efficient approach for rapid slew maneuvers.…”