Nonlinear modeling and control of quay-side container cranes

Mohammad F. Daqaq, Ziyad N. Masoud, Ali H. Nayfeh

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish (US)
Title of host publicationIMAC-XXIII
Subtitle of host publicationConference and Exposition on Structural Dynamics - Structural Health Monitoring
StatePublished - 2005
Event23rd Conference and Exposition on Structural Dynamics 2005, IMAC-XXIII - Orlando, FL, United States
Duration: Jan 31 2005Feb 3 2005

Publication series

NameConference Proceedings of the Society for Experimental Mechanics Series
ISSN (Print)2191-5644
ISSN (Electronic)2191-5652


Other23rd Conference and Exposition on Structural Dynamics 2005, IMAC-XXIII
Country/TerritoryUnited States
CityOrlando, FL

ASJC Scopus subject areas

  • General Engineering
  • Computational Mechanics
  • Mechanical Engineering


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