Electro-Mechanical Modelling and Load Sway Control of Gantry Cranes.

Al-Fares, F.; Al-Fiqi, T. G. A.; Al-Mubarak, H.; Al-Ajmi, M.

doi:10.21608/bfemu.2020.128990

Electro-Mechanical Modelling and Load Sway Control of Gantry Cranes.

Document Type : Research Studies

Authors

¹ Assistant of Production Technology Department., College of Technology Studies., Authority of Applied Education., Kuwait.

² Professor of Production Engineering Department, Faculty of Engineering., Ain Shams University., Cairo., Egypt., and Now with the Department of Production Technology., College of Technology Studies., Authority of Applied Education., Kuwait.

³ Assistant Professor., Production Technology. College of Technology Studies ., Authority of Applied Education., Kuwait.

⁴ Assistant Professor., Production Technology., College of Technology Studies., Authority of Applied Education., Kuwait.

10.21608/bfemu.2020.128990

Abstract

In this work, a nonlinear model representing the dynamics of the container sway of a gantry crane is derived. The dynamics of the induction motors are also taken into consideration in addition to the simultaneous travelling, trolley and housing motions. The data of an actual 45-ton gantry crane is used to simulate the behavior of the container under an actual transportation plan. A simulation example is then presented to illustrate the uncontrolled system response. The container sway is found to be high such that a control scheme has to be implemented to suppress the load sway. A feedback control scheme is developed to suppress load sway. The feedback control matrix is chosen such that the poles of the closed-loop system are arbitrarily assigned. The control scheme is applied and the simulation results illustrate the effectiveness of the proposed scheme.

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