Portal Crane Research Articles

Research on Wind Disaster Accident of Port Crane

Gust is the most serious natural disaster that threatens the safety of port portal crane. The wind resistance of some port cranes is not optimistic, and wind disaster accidents occur frequently. Based on the analysis of some classic cases of wind disasters at home and abroad, this paper finds out the weak links of the wind proof ability of port portal crane, and puts forward the countermeasures to improve and enhance the wind proof ability of port portal crane.

Study on Stress Distribution Law and Stress Performance Characteristics of Multiple Data Mining for Harbour Portal Crane Detection

Taking the actual test of harbour portal crane as the sample, the evident high-stress measure points have been selected through the potential high-stress measure points, and the high-risk structure have been identified. Then stress distribution law and stress performance characteristics of the high-risk structure have been studied. The basis for the safety production of the port have been provided.

Energy Shaping and Partial Feedback Linearization of Mechanical Systems with Kinematic Constraints

Abstract Traditionally, the energy shaping for mechanical systems requires the elimination of holonomic and nonholonomic constraints. In recent years, it was argued that such elimination might be unnecessary, leading to a possible simplification of the matching conditions in energy shaping. On the other hand, the partial feedback linearization (PFL) approach has been widely applied to unconstrained mechanical systems, but there is no general result for the constrained case. In this regard, this paper formalizes the PFL for mechanical systems with kinematic constraints and extends the energy shaping of such systems by including systems with singular inertia matrix and non-workless constraint forces, which can arise from the coordinate selection and PFL. We validated the proposed methodology on a 5-DoF portal crane via simulation.

ANALYSIS OF STARTING IN HORSE HEAD SYSTEM AT OPTIMAL JERKING MODE OF MOVEMENT

This article presents the results of an analytical study of the kinematic characteristics of the articulated boom system of a portal crane at the start of movement. The specified study was carried out on the section of acceleration of the electric motor of the mechanism for changing the departure, from the beginning of switching on until the nominal speed is reached. In this case, the rated speed of the rotor of the electric motor corresponds to the working speed of the horizontal movement of the load. The acceleration of the electric motor occurs according to the law, which corresponds to the optimization of the root-mean-square deviation of the speeds of the load and the axis of the final bypass block. The study of the movement at start-up according to the law of optimization of the root-mean-square deviation of speeds under various boundary conditions was carried out. Graphical dependencies of the kinematic parameters of the load and its suspension point on the trunk are built. This makes it possible to establish the possibility of practical use of this law. Based on the research, recommendations have been developed for the selection of the initial and final boundary conditions during engine acceleration of the departure change mechanism. Also, the kinematic characteristics of the movement of the gantry crane boom system during launch were analyzed according to the laws of optimization of the root-mean-square deviation of accelerations and jerks, and a comparison was made with the movement of the boom system according to the law of optimization of the root-mean-square deviation of speeds.

Design and deflection evaluation of a portal crane subjected to traction load

Abstract In this study, deflection values occurring on the main girder of a portal crane at various payloads were investigated theoretically, numerically and experimentally. The entire portal crane structure was analyzed on via a computer model in order to assess the reliability of the main girder in terms of deflection. Variations in deflection on the main girder were determined in accordance with load lifted and the crane trolley position. In addition, deflection values at critical points on the main girder of the portal crane were measured experimentally. Results indicate that maximum deflection value occurring on the main girder when the crane trolley was located at the middle of main girder were 1.34 times greater than the deflection value when the crane trolley was located at loading position 3.

Design and deflection evaluation of a portal crane subjected to traction load

Abstract In this study, deflection values occurring on the main girder of a portal crane at various payloads were investigated theoretically, numerically and experimentally. The entire portal crane structure was analyzed on via a computer model in order to assess the reliability of the main girder in terms of deflection. Variations in deflection on the main girder were determined in accordance with load lifted and the crane trolley position. In addition, deflection values at critical points on the main girder of the portal crane were measured experimentally. Results indicate that maximum deflection value occurring on the main girder when the crane trolley was located at the middle of main girder were 1.34 times greater than the deflection value when the crane trolley was located at loading position 3.

Investigation on endurance evaluation of a portal crane: experimental, theoretical and finite element analysis

Abstract In this study, the stress on portal crane components at various payloads has been investigated theoretically, numerically and experimentally. The portal crane was computer-aided modeled and finite element analyses were performed so that the most stressed points at the each trolley position investigated on the main girder could be determined. In addition, the critical points were marked on the portal crane, and strain gages were attached to the those critical points so that stress values could be experimentally determined. The safety factor values at different payloads were determined by using finite element simulation. Results indicate that the most stressed component in the examined portal crane is the main girder. Experimental results indicate that the maximum stress value on the main girder is 3.05 times greater than the support legs and 8.99 times larger than the rail.

POSE ESTIMATION OF A MOVING CAMERA WITH LOW-COST, MULTI-GNSS DEVICES

Abstract. Without additional prior information, the pose of a camera estimated with computer vision techniques is expressed in a local coordinate frame attached to the camera’s initial location. Albeit sufficient in many cases, such an arbitrary representation is not convenient for employment in certain applications and has to be transformed to a coordinate system external to the camera before further use. Assuming a camera that is firmly mounted on a moving platform, this paper describes a method for continuously tracking the pose of that camera in a projected coordinate system. By combining exterior orientation from a known target with incremental pose changes inferred from accurate multi-GNSS positioning, the full 6 DoF pose of the camera is updated with low processing overhead and without requiring the continuous visual tracking of ground control points. Experimental results of applying the proposed method to a moving vehicle and a mobile port crane are reported, demonstrating its efficacy and potential.

Ultracapacitors for Port Crane Applications: Sizing and Techno-Economic Analysis

The use of energy storage with high power density and fast response time at container terminals (CTs) with a power demand of tens of megawatts is one of the most critical factors for peak reduction and economic benefits. Peak shaving can balance the load demand and facilitate the participation of small power units in generation based on renewable energies. Therefore, in this paper, the economic efficiency of peak demand reduction in ship to shore (STS) cranes based on the ultracapacitor (UC) energy storage sizing has been investigated. The results show the UC energy storage significantly reduce the peak demand, increasing the load factor, load leveling, and most importantly, an outstanding reduction in power and energy cost. In fact, the suggested approach is the start point to improve reliability and reduce peak demand energy consumption.

Investigation on endurance evaluation of a portal crane: experimental, theoretical and finite element analysis

AbstractIn this study, the stress on portal crane components at various payloads has been investigated theoretically, numerically and experimentally. The portal crane was computer-aided modeled and finite element analyses were performed so that the most stressed points at the each trolley position investigated on the main girder could be determined. In addition, the critical points were marked on the portal crane, and strain gages were attached to the those critical points so that stress values could be experimentally determined. The safety factor values at different payloads were determined by using finite element simulation. Results indicate that the most stressed component in the examined portal crane is the main girder. Experimental results indicate that the maximum stress value on the main girder is 3.05 times greater than the support legs and 8.99 times larger than the rail.

In-Service Brittle Fracture Resistance Degradation of Steel in a Ship-to-Shore Portal Crane

The assemblies of a ship-to-shore portal crane after 33 years of service were studied on the possible loss of the initial brittle fracture resistance level by rolled steel sheets. Strain gauge measurements were used to predict the level of operating stresses. The latter and a decrease in the Charpy impact strength were established to be distinctly related. Transverse specimens are shown to generally exhibit a lower impact strength level as compared to that of the longitudinal ones. The differences in the brittle fracture resistance of specimens, differently oriented with respect to the stamping direction, are revealed to be growing with the metal degradation level. This level along the stamped fibers is demonstrated to increase with a decrease in the sheet thickness, which can be explained by the effect of aggressive marine environment as a factor of metal hydrogenation.

Sub-surface stress analysis of slewing bearing ball based on plastic deformation

Slewing support is widely used in large slewing machinery such as rocket launching platform, wind turbine and port crane. The accurate analysis of the internal stress in the raceway of ball roller is an important basis for studying the cause of bearing fatigue failure and improving the reliability of slewing support. In this paper, the finite element model of thrust angular contact rotary support was established in ANSYS. The stress distribution of the raceway of the ball under different working conditions was calculated by using bilinear isotropic plastic materials and linear elastic materials, and the equivalent stress resulted of the contact surface were compared with the Hertz contact model. This paper studied the factors that affect the distribution of the equivalent stress on the contact surface, calculates the ratio of the equivalent shear stress and the normal stress on the contact surface by finite element method, namely the equivalent friction coefficient, and studied the effect of the equivalent friction coefficient on the distribution of the stress inside the rolling ball. Simulation results show that plasticity occurs in the rolling ball.

Экспертиза промышленной безопасности аварийного портового перегрузочного процесса

Underestimated importance of port transshipment technologies brings negative results and contradicts the purpose of river transport development, strengthening its positions in the transport system, where in the context of the technical revolution on the river and sea transport the most important task of operators and machine operators is the comprehensive and effective development of new equipment and technologies, creation of a system of optimal organization of production for goods transportation and reloading. If to accept the idea that the process is a consistent change of conditions and stages of development, the process is a description of production processes, instructions for the implementation of technological rules, requirements of projects of works (lifting) cranes, working flowcharts, projects of works, maps of labor processes, etc. Because technologically loading-unloading processes are divided into discrete (periodic), continuous and combined ones, less likely to indulge in the valuation are the discrete loading processes, in each case having features that do not duplicate established rules and regulations for traditional general goods. There is taken as an example the emergency reloading of the centrifugal compressor by means of the port crane Kondor in Osetrovsky river port, JSC in Ust'-Kut village, the Irkutsk region, the centrifugal compressor weighing (gross) 33 t and being made in 2017 by General Electric Oil & Gas, Nuove Pignone S.r.L., Florence, Italy, brand 2BCL457/B brought to the port by the road transport. The industrial safety examination of the emergency port transshipment process was carried out. The materials of the video recorder of the process of dropping the containers with a compressor have been presented. The reasons for the fall of the cargo in the port have been analyzed, expert conclusions being given

The Level of Efficiency in Handling Container Traffic at Penang Port: A Simulation Study

The six-month period (January 1995 - June 1995) data was extracted from "Pelabuhan Kontena" (PELKON) system and tested using SIMAN simulation process. Among the data available from the PELKON system are: arrival time of a ship, departure time of a ship, operation time for loading and unloading, total number of equipment used, number of containers unloaded, number of containers loaded, size of a ship, country of registration, last port of call, and next port of call. The arrival pattern of large ships (having a capacity to carry 507 or more containers) and small ships (having a capacity to carry less than 507 containers) follows Weibull distribution and Log-normal distribution, respectively. As a whole, there is no significant differences between the number of ships recorded by the PELKON data and the simulation process. A number of experimental studies such as acquiring less Port Crane, improve­ment of management service and integrated Prime Mover operation have been carried out to determine the effect on the container handling operations. The findings show that when one of the four port cranes did not work, the number of export containers decreased by 14.2% and 11.5% for import containers, If the services had been upgraded by 25%, the average time for unloading export containers could be shortened by 27.1% and the average time for loading import containers could be reduced by 7.9%. If the movement of prime movers had been integrated, the handling of export containers could be upgraded by 8.0% and 4.3% for import containers.

Explicit and Implicit IDA-PBC Design and Implementation for a Portal Crane

The interconnection and damping assignment passivity-based control (IDA-PBC) is well-known for regulating the behavior of nonlinear systems. In underactuated mechanical systems (UMSs), its application requires the satisfaction of matching conditions, which in many cases demands to solve partial differential equations (PDEs). Only recently, the IDA-PBC method has been extended to UMSs in implicit representation, where the system dynamics are described by a set of differential-algebraic equations. In some system classes, this implicit model allows to circumvent the PDE obstacle and to construct an output-feedback law. This paper discusses the design and real-system implementation of the total energy shaping IDA-PBC with an optimal local performance for a portal crane system in implicit port-Hamiltonian representation. The implicit controller is compared with the simplified (explicit) IDA-PBC, introduced by Xue and Zhiyong (2017), which also shapes the total energy and avoids PDEs.

Scientific and methodological bases of rational design of hoisting-and-transport machines metal structures

Purpose of this paper is to improve parameters of metal structures elements of hoisting-and-transport machines (HTMs) by means of systematic approach to study changes of their stress-strain state during design or usage stage. Subject of the study is pattern of changes in distribution and values of stresses in elements of metal structures of HTMs depending on the structural and parametric characteristics. Design methodology of metal structures of HTMs on the basis of a portal crane is proposed, it is based on strength calculations using methods of allowable stresses and FEM, 3D computer simulation, system analysis of the stress-strain state and structural-parametric synthesis. Results of modeling of loading state and calculations of the portal crane metal structures on strength by FEM in CAD/CAE system, analysis of their stress-strain state, structural-parametric synthesis are presented. Recommendations on practical application of the results are given. Possible ways of further development of proposed solutions are identified.

Improved TOPSIS Model and Its Application in Online Structural Health Monitoring System for Portal Crane

Abstract Fracture of the metal structure is one of the foremost causes of accidents for portal cranes, and such an accident can be catastrophic, resulting in great loss of life and large expenses. Assessing the structural health of portal crane is important as it can keep security threats from further development. In an effort to evaluate the structural health of portal cranes in real time, an improved technique for order preference by similarity to an ideal solution (TOPSIS) model is presented in this paper. By integrating the fitting function of the bathtub curve, an optimization function f(aij) of condition matrix aij is proposed. Entropy-weight method is improved and applied to determine the weights of criteria. Based on the historical operation data, an update method for positive-ideal condition A+ and negative-ideal condition A− is elucidated. To further substantiate the improvement, the proposed methodological model is applied to an online structural health monitoring system for portal crane. Laboratory test and field test have been conducted. Structural strain, inclination, and pitch angle of portal crane are collected. Structural health assessment during lifting, luffing, and turning processes are carried out. The results show that the improved model gets a more stable and effective structural health assessment result, and is favorable for online structural health monitoring system. Thus, the proposed model can be applied to other problems of structural health assessment.

Fatigue assessment of a marine structural steel and comparison with Thermographic Method and Static Thermographic Method

AbstractFatigue properties are of fundamental importance and extremely time consuming to be assessed. The aim of this research activity is to apply the Thermographic Method (TM) and the Static Thermographic Method (STM) during fatigue and tensile tests to correlate the temperature trend to the fatigue properties of an S355 steel. The material was retrieved from an in‐service port crane. Traditional fatigue tests were performed in order to evaluate the S‐N curve with a scatter band. Step load tests were carried out deriving the fatigue limit and the Energy Parameter of the material. Static tensile tests were performed to obtain the stress at which the temperature trend deviates from the thermoelastic behavior. The fatigue properties obtained by means of the energetic methods were compared to the traditional ones showing a good agreement.

Research on Grading Method of Energy Efficiency Rating of Portal Crane

This paper combines the hoisting mechanism of the gantry crane, the oscillating mechanism and the luffing mechanism's own operating characteristics and the physical model of its energy consumption. Through the multiple regression analysis method and the neural network model, the influencing factors of each energy consumption can be determined for each mechanism of the portal crane. The extent of the impact. Finally, the data set is obtained by the regression model and the neural network model simulation output, and the distribution of energy consumption values is obtained through the box line diagram to determine the energy efficiency level and range.

Structural dynamics of big gantry crane subjected to different trolley move laws

The present work concerns the oscillations and therefore the displacements present on a portal crane in the case in which the trolley is moved with different laws and in particular with different maximum accelerations. The work also investigates the effects of an abrupt stop of the trolley movement and also how the load oscillations, following the stop of the trolley movement, generates vibrations in the crane structure which are correlated to the crane natural frequencies. The work was developed on a real geometry of portal cranes using the finite element method. A new procedure was developed and implemented to simulate variable forces on the crane i.e. the forces induced by the trolley movement. The results show that in determinate conditions, the displacement and therefore the relative oscillations are very significant and therefore cannot be neglected.