| Abstrakt: |
Traditionally, container cranes are modeled as a simple pendulum, with either a flexible or a rigid hoisting cable, and a lumped mass at the end of that cable. In the case of large container cranes, the actual configuration of the hoisting mechanism is significantly different. It consists typically of an arrangement of four hoisting cables, which are hoisted from four different points on the trolley and attached on the load side to four points on a spreader bar used to lift containers. Thus, the dynamics of the actual container-crane hoisting assembly is different from that of a simple pendulum. A controller design based on the actual model is more likely to result in an improved response. In this work, a mathematical model of the actual container crane is developed. Then, a simplified version of this model is used to calculate the gain and delay for the delay controller developed earlier. Numerical simulations are performed by applying the delay controller to the full nonlinear model of the container crane. [ABSTRACT FROM AUTHOR] |
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