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http://dx.doi.org/10.5302/J.ICROS.2016.16.0047

Dynamics Analysis and Residual Vibration Control of an Overhead Shuttle System  

Piao, Mingxu (School of Mechanical Engineering, Pusan National University)
Kim, Gyoung-Hahn (School of Mechanical Engineering, Pusan National University)
Shah, Umer Hameed (School of Mechanical Engineering, Pusan National University)
Hong, Keum-Shik (School of Mechanical Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.6, 2016 , pp. 445-452 More about this Journal
Abstract
This paper discusses the dynamics and control problem of an overhead shuttle system (OSS), which is a critical part of the automated container terminal at a port. The main purpose of the OSS is efficient automated transport function of containers, which also requires high precision and safety. A major difference between the OSS and the conventional container crane is the configuration of the cables for hoisting the spreader. A mathematical model of the OSS is developed here for the first time, which results in an eight-pole system. Also, open loop control methods (trapezoidal and notch-type velocity profiles) are investigated so that the command input to the overhead shuttle produces the minimum possible sway of the payload. Simulation results show that the vibration suppression capability of the OSS is superior to the conventional overhead container crane, which is partially due to the cable configuration.
Keywords
crane control; vibration control; input shaping; dynamic model;
Citations & Related Records
Times Cited By KSCI : 12  (Citation Analysis)
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