Adaptation of Delayed Position Feedback to the Reduction of Sway of Container Cranes
| dc.contributor.author | Nayfeh, Nader Ali | en |
| dc.contributor.committeecochair | Baumann, William T. | en |
| dc.contributor.committeecochair | Masoud, Ziyad N. | en |
| dc.contributor.committeemember | Stilwell, Daniel J. | en |
| dc.contributor.department | Electrical and Computer Engineering | en |
| dc.date.accessioned | 2011-08-06T14:45:25Z | en |
| dc.date.adate | 2002-12-30 | en |
| dc.date.available | 2011-08-06T14:45:25Z | en |
| dc.date.issued | 2002-12-04 | en |
| dc.date.rdate | 2003-12-30 | en |
| dc.date.sdate | 2002-12-17 | en |
| dc.description.abstract | Cranes are increasingly used in transportation and construction. increasing demand and faster requirements necessitate better and more efficient controllers to guarantee fast turn-around time and to meet safety requirements. Container cranes are used extensively in ship-to-port and port-to-ship transfer operations. In this work, we will extend the recently developed delayed position feedback controller to container cranes. In contrast with traditional work, which models a crane as a simple pendulum consisting of a hoisting cable and a lumped mass at its end, we have modeled the crane as a four-bar mechanism. The actual configuration of the hoisting mechanism is significantly different from a simple pendulum. It consists typically of a set of four hoisting cables attached to four different points on the trolley and to four points on a spreader bar. The spreader bar is used to lift the containers. Therefore, the dynamics of hoisting assemblies of large container cranes are different from that of a simple pendulum. We found that a controller which treats the system as a four-bar mechanism has an improved response. We developed a controller to meet the following requirements: traverse an 80-ton payload 50 m in 21.5 s, including raising the payload 15 m at the beginning and lowering the payload 15 m at the end of motion, while reducing the sway to 50 mm within 5.0 s at the end of the transfer maneuver. The performance of the controller has been demonstrated theoretically using numerical simulation. Moreover, the performance of the controller has been demonstrated experimentally using a 1/10th scale model. For the 1/10th scale model, the requirements translate into: traverse an 80 kg payload 5 m in 6.8 s, including raising 1.5 m at the beginning and lowering 1.5 m at the end of motion, while reducing the sway to 5 mm in under 1.6 s. The experiments validated the controller. | en |
| dc.description.degree | Master of Science | en |
| dc.format.medium | ETD | en |
| dc.identifier.other | etd-12172002-160627 | en |
| dc.identifier.sourceurl | http://scholar.lib.vt.edu/theses/available/etd-12172002-160627 | en |
| dc.identifier.uri | http://hdl.handle.net/10919/9698 | en |
| dc.publisher | Virginia Tech | en |
| dc.relation.haspart | thesis.pdf | en |
| dc.rights | In Copyright | en |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | en |
| dc.subject | gantry crane | en |
| dc.subject | delayed feedback control | en |
| dc.subject | Container cranes | en |
| dc.subject | sway reduction | en |
| dc.title | Adaptation of Delayed Position Feedback to the Reduction of Sway of Container Cranes | en |
| dc.type | Thesis | en |
| thesis.degree.discipline | Electrical and Computer Engineering | en |
| thesis.degree.grantor | Virginia Polytechnic Institute and State University | en |
| thesis.degree.level | masters | en |
| thesis.degree.name | Master of Science | en |
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