@inproceedings{de269481dd214e05b2f04a681c7ce3f9,
title = "Nonlinear modeling and control of quay-side container cranes",
abstract = "Gantry cranes are traditionally modeled as a simple pendulum. However, a quay-side container crane has a multi-cable hoisting mechanism which can not be modeled as a simple pendulum. In this paper, a two-dimensional four-bar-mechanism model of a container crane is developed. The model is then reduced to a double pendulum with a kinematic constraint. A nonlinear approximation of the oscillation frequency of the simplified model is developed. The resulting frequency approximation is used to determine the switching times for a bang-off-bang input-shaping controller. The performance of the controller is numerically simulated on the full model, and is compared to the performance of similar controllers, which are based on a nonlinear frequency approximation of a simple pendulum and a linear frequency approximation of a constraint double pendulum. The sensitivity of the controller performance to the oscillation frequency is investigated. A delayed-position feedback controller is applied at the end of the transfer maneuver to eliminate residual oscillations without affecting the shaped commands of the input-shaping controller.",
author = "Daqaq, {Mohammad F.} and Masoud, {Ziyad N.} and Nayfeh, {Ali H.}",
year = "2005",
language = "English (US)",
isbn = "0912053895",
series = "Conference Proceedings of the Society for Experimental Mechanics Series",
booktitle = "IMAC-XXIII",
note = "23rd Conference and Exposition on Structural Dynamics 2005, IMAC-XXIII ; Conference date: 31-01-2005 Through 03-02-2005",
}