A graphical approach to input-shaping control design for container cranes with hoist

Ziyad N. Masoud, Mohammed F. Daqaq

Research output: Contribution to journalArticlepeer-review

Abstract

A traditional input-shaping technique is adapted to control transfer maneuvers on quay-side container cranes. The controller is developed using an accurate two-dimensional four-bar-mechanism model of a container crane and accounts for maneuvers that involve large hoisting operations. A graphical representation of the phase plane of the payload oscillations is used to derive mathematical constraints to compute the switching times of a double-step acceleration profile that results in minimal transient and residual oscillations. In contrast with single-step shaped acceleration profiles which are very sensitive to frequency approximations, the proposed double-step profile is less sensitive to small variations in the frequency even for large trolley accelerations.

Original languageEnglish (US)
Pages (from-to)1070-1077
Number of pages8
JournalIEEE Transactions on Control Systems Technology
Volume14
Issue number6
DOIs
StatePublished - Nov 2006

Keywords

  • Container crane
  • Crane control
  • Input-shaping

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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