Real-time simulation dynamics model and solution algorithm for the trolley-hoisting system in container crane simulated training system

Abstract

The development of simulated training system (simulator) for container crane has made some progress; however, there are still problems in insufficient training function (e.g. the container spreader alignment skill training, one of the most important skill in conventional terminals) and lack of dynamic sense of immersion. In this paper, the technical status of container crane simulator is summarized and the state of art of dynamics model and its solution algorithm for container crane is reviewed. It is pointed out that establishing an accurate real-time simulation dynamics model and studying an efficient algorithm under certain calculation accuracy is the key problem of enhancing immersion, reality and training effect of the simulator. With reasonable simplification and hypothesis, the dynamic equilibrium equations of the trolley-hoisting system are established, further considering the characteristics of the mechanical and electrical transmission system of the crane and also the external mean wind load. Based on the four order Runge-Kutta method by MATLAB programming, the fast solution to the two order ordinary differential equations is realized on personal computer, and the three dimensional (3D) space swing time-history response of the container spreader can be obtained in real-time. The results of numerical calculation are consistent with the actual situation, thus, this study provides a feasible technical route for the real-time dynamics simulation in the container crane simulated training system.