Container Crane Model Research Articles

RANCANG BANGUN ELECTRIC CONTAINER CRANE SEBAGAI SARANA BONGKAR MUAT DI TERMINAL PETIKEMAS BERBASIS PLC OMRON CP1E

Port is one of the supporting infrastructure of sea transportation which is the gateway to and out of goods and passengers. The function and role of the port is very important one of them is the container terminal. The container terminal is where loading and unloading of goods in containers. At the container terminal the length of loading and unloading process is determined by the quality and quantity of the tool. One of them is container crane. Therefore designed a container crane model in the form of a prototype named electric container crane. At the time of design is used Programmable Logic Controller (PLC) Omron brand CP1E-E20SDRA type as a safety controller and add a double trolley system so that container cranes can be flexible in 4 slots without gantry movement, and also add automatic cable track system so container crane can be Moving without the need for a portable generator because it is supplied directly using electricity from PLN

Investigation of Seismic Behavior of Container Crane Structures by Shake Table Tests and Mathematical Modeling

This paper is concerned with the verification of mathematical modeling of the container cranes under earthquake loadings with shake table test results. Comparison of the shake table tests with the theoretical studies has an important role in the estimation of the seismic behavior of the engineering structures. For this purpose, a new shake table and mathematical model were developed. Firstly, a new physical model is directly fixed on the shake table and the seismic response of the container crane model against the past earthquake ground motion was measured. Secondly, a four degrees-of-freedom mathematical model is developed to understand the dynamic behaviour of cranes under the seismic loadings. The results of the verification study indicate that the developed mathematical model reasonably represents the dynamic behaviour of the crane structure both in time and frequency domains. The mathematical model can be used in active-passive vibration control studies to decrease structural vibrations on container cranes.

Double Hopf bifurcation in a container crane model with delayed position feedback

In this paper, we study dynamics in a container crane model with delayed position feedback, with particular attention focused on non-resonant double Hopf bifurcation. By using multiple time scales and center manifold reduction methods, we obtain the equivalent normal forms near a double Hopf critical point in this neutral delayed differential system. Moreover, bifurcations are classified in a two-dimensional parameter space near the critical point. Numerical simulations are presented to demonstrate the applicability of the theoretical results.

Force coefficient at each support point of a container crane according to the wind direction

This study is conducted to provide the force coefficient according to the wind direction from a wind tunnel test regarding the uplift force at each support point of a container crane and also the designed stowing devices — a tie-down rod and a stowage pin — and an alarm system to prevent overturning of the container crane under wind loads. In order to evaluate the effect of the wind load on the stability of the crane, two container cranes that are widely used in container terminals, viz., 50ton-class and 61ton-class container cranes, are adopted for the analytic model and 19 values are considered for the wind direction as the design parameter. First, the wind tunnel test for the reduced-scale container crane model is performed according to the wind direction using an Eiffel-type atmospheric boundary-layer wind tunnel. Next, the uplift forces at each support point are calculated from the wind tunnel test. Finally, the force coefficient according to the wind direction at each support point is suggested by dividing the uplift force by the square of the wind speed.

Reference data on uplift forces for an alarm system to prevent an accident of a container crane due to windblast

This study is conducted to provide the reference data for an alarm system to prevent an overturning of a container crane under wind loads. Two methods, namely FSI (fluid–structure interaction) analysis and wind tunnel test, are adopted in this investigation. In order to evaluate the effect of wind load on the stability of the crane, a 50-ton class container crane, widely used in container terminals, is adopted for an analytic model, and 19 values are considered for wind direction as a design parameter. First, the wind tunnel test for the reduced-scale container crane model is performed according to the wind direction using an Eiffel-type atmospheric boundary-layer wind tunnel. Next, FSI analysis for a full-scale container crane is conducted using ANSYS and CFX. Then, the uplift force obtained from FSI analysis is compared with that yielded by the wind tunnel test. Finally, the reference data on the uplift forces for an alarm system are suggested to prevent an accident of a container crane due to windblast.

The difference in the uplift force at each support point of a container crane between FSI analysis and a wind tunnel test

We analyzed the difference between FSI (fluid-structure interaction) analysis and a wind tunnel test regarding the uplift force at each support point of a container crane and also design stowing devices — a tie-down rod and a stowage pin — and an alarm system to prevent overturning of a container crane under wind loads. We know that FSI analysis agrees more with wind tunnel tests than with structural analysis, but the results of FSI analysis are different from those of the tests. To evaluate the effect of the wind load on the stability of the crane, two container cranes that are widely used in container terminals-50 ton-class and 61 ton-class container cranes-are adopted for the analytic model and 19 values are considered for the wind direction as the design parameter. First, a wind tunnel test for the reduced-scale container crane model is performed according to the wind direction using an Eiffel-type atmospheric boundary-layer wind tunnel. Next, FSI analysis for a full-scale container crane is conducted using ANSYS and CFX. Then, the uplift force obtained from FSI analysis is compared with that yielded by the wind tunnel test. Finally, a formula is suggested to compensate the difference between FSI analysis and the wind tunnel test.

Compensation of FSI Analysis to Develop an Alarm System for a Container Crane

This study is conducted to provide a compensation formula to design the stowing devices - a tie-down rod and a stowage pin - and an alarm system to prevent an overturning of a container crane under wind loads. Two method, namely FSI(fluid-structure interaction) analysis and wind tunnel test, are adopted in this investigation. In order to evaluate the effect of wind load on the stability of the crane, 50-ton class container crane widely used in container terminals is adopted for analytic model and 19-values are considered for wind direction as design parameter. First, the wind tunnel test for the reduced scale container crane model is performed according to the wind direction using an Eiffel type atmospheric boundary-layer wind tunnel. Next, FSI analysis for a full-scale container crane is conducted using ANSYS and CFX. Then, the uplift force obtained from FSI analysis is compared with that yielded by the wind tunnel test. Finally, a formula is suggested to compensate the difference between the FSI analysis and the wind tunnel test.

컨테이너 크레인을 위한 모델기반 퍼지제어기 설계

본 논문은 파라미터 변화나 외란이 존재하는 환경에서 컨테이너 크레인의 트롤리 위치와 컨테이너의 흔들림을 효과적으로 제어할 수 있는 모델기반 퍼지제어기를 제안한다. 이를 위해 우선 파라미터 변화에 대응할 수 있는 모델링 기법인 T-S 퍼지모델을 구현하고, 소속함수의 파라미터를 실수코딩 유전알고리즘(RCGA)으로 조정하는 문제를 다룬다. 다음으로 퍼지모델의 각 서브시스템에 대해 LQ 제어기 법을 사용하여 서브제어기를 설계하고, 이렇게 설계된 서브제어기를 ROGA로 조정된 퍼지모델의 소속함수로 퍼지결합하여 제안하는 모델기반 퍼지제어기를 구성한다. 시뮬레이션을 통해 RCGA로 조정된 소속함수를 사용하는 퍼지모델은 컨테이너 크레인의 비선형 모델의 출력에 잘 추종하였고, 모델기반 퍼지제어기도 파라미터 변화와 외란이 존재하는 환경에서 강인한 제어를 수행하고 있음을 확인하였다. In this paper, we present the model-based fuzzy controller for container cranes which effectively performs set-point tracking control of trolley and anti-swaying control under system parameter and disturbance changes. The first part of this paper focuses on the development of Takagi-Sugeno (T-S) fuzzy modeling in a nonlinear container crane system. Parameters of the membership functions are adjusted by a RCGA to have same dynamic characteristics with nonlinear model of a container crane. In the second part, we present a design methodology of the model-based fuzzy controller. Sub-controllers are designed using LQ control theory for each subsystem in fuzzy model and then the proposed controller is performed with the combination of these sub-controllers by fuzzy IF-THEN rules. In the results of simulation, the fuzzy model showed almost similar dynamic characteristics compared to the outputs of the nonlinear container crane model. Also, the model-based fuzzy controller showed not only the fast settling time for the change in parameter and disturbance, but also stable and robust control performances without any steady-state error.

Experimental study of wind load on a container crane located in a uniform flow and atmospheric boundary layers

The effects of oncoming atmospheric boundary layers and boom position on wind load acting on a container crane were tested in this study. A 1/150 scale-downed model of a container crane was embedded in a wind-tunnel test section. The wind environment nearby the container crane located in a port was simulated as a uniform flow and two types of atmospheric boundary layer (ABL) for an open coast ( n = 1 / 10 ) and an open terrain ( n = 1 / 7 ) . Wind load acting on the container crane model was measured using a 7-component balance with varying wind directions (yaw angle). Reynolds number effect on the aerodynamic coefficients was investigated with varying Reynolds number. Drag and pitching-moment coefficients have maximum values at the yaw angles of θ = ± 3 0 ∘ , ±150 ∘, and minimum values at θ = ± 9 0 ∘ . For the simulated ABL conditions, the drag coefficient is reduced about 19%–25% on the average, compared to that in a uniform flow. However, the pitching moment in ABLs is about 10% on the average larger than that of a uniform flow. As the yaw angle increases, the drag and pitching-moment coefficients at boom-up condition are increased about 9%–14% and 37%–44%, respectively, compared with those in boom-down condition. In addition, the maximum wind load is reduced about 14% in the case of open-coast ABL and about 20% for the open-terrain ABL, compared to that in a uniform flow.

Wind load on a container crane located in atmospheric boundary layers

Wind environment nearby a container crane located in a port was simulated in a wind tunnel test section. A 1 150 scale-downed model of the container crane was embedded in an atmospheric boundary layer (ABL). Wind load acting on the container crane model was measured using a seven-component balance with varying wind direction (yaw angle) in two different ABLs. Reynolds number effect on the aerodynamic coefficients was investigated with varying Reynolds number. Effects of ABL, adjacent structures and boom positions on the wind load variation were evaluated experimentally. In addition, the effect of the minute structures attached at the crane model such as stairways, wheels, handrails, etc., were also investigated in this study.

An experimental analysis of the effect of wind load on the stability of a container crane

This study was conducted to analyze the effects of wind loads on the stability of a 50-ton container crane using wind tunnel testing. The experiments were performed in order to furnish designers with data that can be used in the design of a container crane that is wind resistant, assuming an applied wind load of 75 m/s velocity. Data acquisition conditions for this experiment were established in accordance with similarity to a reduced-scale model. The scale of the container crane model, wind speed and time were selected as 1/200, 1/13.3, and 1/15, respectively, and the experiment was conducted using an Eiffel type atmospheric boundary-layer wind tunnel having a 11.52 m2 cross-sectional area. All directional drag and overturning moment coefficients were investigated and uplift forces due to wind load at each supporting point were analyzed.

Nonlinear Input-Shaping Controller for Quay-Side Container Cranes

Input-shaping is one of the most practical open-loop control strategies for gantry cranes, especially those having predefined paths and operating at constant cable lengths. However, when applied to quay-side container cranes, its performance is far from satisfactory. A major source of the poor performance can be linked to the significant difference between the gantry crane model and the quay-side container crane model. Gantry cranes are traditionally modeled as a simple pendulum. However, a quay-side container crane has a multi-cable hoisting mechanism.