Residual vibration control of a quayside container crane

Abstract

This paper discusses the residual vibration control problem of a quayside container crane. The main purpose of the quayside crane is loading and un-loading of the container ships, arriving at the container terminal, quickly while ensuring the safety of the shipments (containers), the machinery, and the personnel at the port. The configuration of the ropes in the hoisting mechanism of the quayside container cane is different from that of the conventional container crane, which causes the natural frequency (ω) and the damping ratio (ζ) of the quayside crane to differ from that of the conventional crane. Thus application of input-shaping control, formulated for the conventional crane, to the quayside crane does not suppress the residual vibrations of the payload effectively. In this paper, the values of ω and ζ of the quayside crane are estimated followed by the application of the zero-vibration and zero-vibration derivate shaper to generate the shaped trolley dive commands. Experimental results reveal that implementation of input-shaping control, formulated by using the estimated values of ω and ζ, results in an improved residual sway suppression of the payload.