The control objectives in this paper are to move the gantry of a container crane to its target position and to suppress the transverse vibration of the payload. The crane system is modeled as an axially moving string equation, in which control inputs are applied at both ends, through the gantry and the payload. The dynamics of the moving string are derived using Hamilton’s principle for systems...

Introduction. Gantry grappling cranes are the main equipment for cargo transportation in technological processes of mining and enrichment rocks. During operation crane, undesirable effects such as rocking payload occur, which turn affects dynamic state crane beam. Materials methods. To solve this problem, methods mathematical computer modeling a system with two degrees freedom were used. identi...

Abstract: In this paper, a novel anti-sway control system that uses an inclinometer as a sway sensor is investigated. The inclinometer, when compared with a vision system, is very cheap, durable, and easy to maintain, while providing almost the same performance. A number of observers to estimate the angular velocity of the load and the trolley velocity are presented. A state feedback controller...

This contribution deals with flatness based control of a laboratory model of a gantry crane. The mechanical model has 3DOFs, where a trolley can be moved on a rail, the load is fixed at the end of a rope and can be lifted or lowered by coiling or uncoiling this rope on a cylinder. Under the assumption that the rope is always stretched, the underactuated system is not input to state linearisable...

The dramatic increasing of sea-freight container transportations and the developing trend for using containers in the multimodal handling systems through the sea, rail, road and land in the present market cause some challenges to the general managers of container terminals such as increasing demand, competitive situation, new investments and expansion of new activities and the need to use new m...