Abstract
Most modern quay cranes operate under the operator’s control. Lifting, lowering, and transporting a container from one platform to another are just some of the actions that a person is responsible for, but the negative consequences of handling can be caused not only by his actions. An error, loading transient instability, or an undervalued environmental factor in the control algorithm can cause a risk to human safety, container, and cargo security. In order to control cargo-handling risk, it is necessary to improve the cargo control systems not only by changing their software, but also by creating additional control algorithms and systems. These systems with programmed control algorithms should be integrated into existing systems to control cargo security and its transfer time. In this article, transient processes and dynamic property of the cargo-handling operation are described and multibody dynamics simulation performed using laboratory prototype of a quay crane. The experimental research performed and integrated autonomous quay crane control algorithm developed with the proposed embedded container swinging control subroutine operated in optimal mode when the control system used PID controller with a feedback including additional PI controller and S-shaped input signal for the analyzed case with the defined parameter set.
Highlights
Most modern quay cranes operate under the operator’s control
Large quay cranes are used as the main transport means for loading cargo from ship to shore and back
Each quay crane is unique in its capabilities, so applying common restrictions to all cranes is not appropriate
Summary
Most modern quay cranes operate under the operator’s control. Lifting, lowering, and transporting a container from one platform to another are just some of the actions that a person is responsible for, but the negative consequences of handling can be caused by his actions. In the maritime intermodal terminal, the main controllable unit of the quay crane is a trolley, driven by electric motors moving to the intended position as quickly as possible, while maintaining the minimum load swinging.[16,17] Uncontrolled swinging leads to cargo stability and safety problems, especially in container take-off and lowering procedures.
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