Minimum-time trajectories for reducing load sway in quay-cranes

Gamini Dissanayake, Gu Fang

    Research output: Contribution to journalArticle

    1 Citation (Scopus)

    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 languageEnglish
    JournalEngineering Optimization
    Publication statusPublished - 2001

    Keywords

    • dynamic models
    • mathematical numerical analysis
    • mechanical engineering
    • quay-sway
    • trajectory planning

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