Trolley Motion Control Based on S-shaped Velocity Profile for Quay Crane Cargo Oscillation Comparison

Tomas Eglynas,Marijonas Bogdevičius,Arūnas Andziulis,Mindaugas Jusis

doi:10.3846/mla.2017.1034

Tomas Eglynas, Marijonas Bogdevičius + Show 2 more

Open Access

https://doi.org/10.3846/mla.2017.1034

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Abstract

Quay cranes are used to move containers from ship to store in minimum time so that the load reaches its destination without payload oscillation. During the operations, containers are suspended by cables and it’s free to swing by motion. This paper investigates the two different velocity profiling techniques used for quay crane control and cargo stabilization. A laboratory scaled model of a crane is used to experimentally research, where the trolley acceleration is used as input, for suppressing the container sway. The residual cargo oscillation problems using different velocity profiles are discussed.

Highlights

A quay cranes play an important role in seaports for loading and unloading processes
S-shaped velocity profile applied to quay crane spreader to control the oscillation of cargo which is flexible connected by cables
This paper investigated two different velocity profiling techniques used for quay crane control

Summary

Introduction

A quay cranes play an important role in seaports for loading and unloading processes. S-shaped velocity profile mostly used for improving the smoothness of the motion by reducing the jerks in acceleration and deceleration phases (Rew et al 2009; Wu, Xia 2014). Depending on the current phase, jerk can be positive, negative or zero Because of these extra phases we have variable acceleration and as the result S-shaped velocity profile (Fig. 2) is generated. After the given point of container is reached, the algorithm is finished While this algorithm is executed, data of container oscillation is collected as well as trolley acceleration, velocity, jerk and position using Arduino Mega controller. Are presented motion trajectory of trapezoidal and S-shaped velocity profiles In both cases trajectories match, it means that transportation process was the same, and we are able to compare the results of container oscillation for both profiles

Experiments and results

Conclusions