Abstract
An investigation into near-minimum-time trajectory planning for a quay-crane is presented in this paper. A dynamic model that captures swinging and pitching motions of the load carried by the crane is developed. An algorithm to obtain near-minimum-time input commands for positioning the crane, that utilises the developed dynamic model, is presented. It is shown that only a modest reduction in the operating speed is required to move a crane without residual load sway. Furthermore, ignoring the reeving geometry and assuming that the quay-crane can be modelled as a crane carrying a point mass at the end of a single rope is shown to be inadequate. Computer simulations using the operating parameters of a full scale quay-crane are presented to verify the results.
Original language | English |
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Journal | Engineering Optimization |
Publication status | Published - 2001 |
Keywords
- dynamic models
- mathematical numerical analysis
- mechanical engineering
- quay-sway
- trajectory planning