Oscillation Control of Quay-Side Container Cranes Using Cable-Length Manipulation

Abstract

Cranes play a very important role in the shipping industry. As a result there is an increasing demand on faster and safer cranes. Inertial forces on crane payloads due to crane-commanded trajectories can cause payloads to experience large sway oscillations. Consequently, sway control on quay-side container cranes is becoming a requirement rather than a luxury. Some modern quay-side container cranes use independent front and rear hoisting cables. This degree of freedom can be utilized to control payload sway oscillations. In this work, a delayed feedback algorithm is used to produce a controlled differential change in the length of the front and rear hoisting cables of a typical quay-side container crane to reduce payload sway.