Abstract By the current research, a PID tuning procedure is developed to control of an overhead crane. To enable the crane to reach a desired position, a controller design strategy must be used. This work presents a simple and efficient enough approach to control of the overhead crane based on designing a PID controller. Ziegler-Nichols method is used to initiate gains setting for PID controlle...

In this paper it is shown a practical method with lets evaluate the full set of crane configurations that produce collisions between the construction environment and the crane and its load. The method is based on a sound mathematical formalism so the feasibility of the results is guaranteed. Moreover, a suitable application of the formalism is performed in this work by means of choosing a suita...

In this paper, a passivity-based control scheme is proposed for the two main translational axes of an overhead crane to provide an active damping of crane load oscillations. The decentralised control structure consists of independent axis controllers, which are adapted to the varying rope length using gain-scheduling techniques. The tracking capabilities concerning desired trajectories for the ...

S ome years ago, there was a TV advert for the Guardian newspaper, which became an advertising classic. It showed a young man, short hair, tattoo, drainpipe trousers and bovver boots, pelting towards an old man ambling his way down the street. When the lout catches up, he grabs the old man and flings him down, clearly a vicious unprovoked assault. But then the camera moves back to show the whol...

In this paper, the effect of wind load on port portal crane is simulated by experimental method, and anti-wind anti-skid performance tested. This experiment an important method to study action mode force skid resistance crane, provides basis for evaluation wind-proof safety crane.

This project presents an experimental investigations into the development proportional integral derivative (PID) control schemes for active sway control of a gantry crane system. The main objective of controlling a gantry crane is to transport the load as fast as possible without causing any unnecessary swing at the final position. The proposed controller is used as a feedback control which is ...

This paper proposes a strategy for handling a heavy object by cooperation of a positioncontrolled robot and a crane with multiple wires . Installation of compliant mechanism is essential to avoid excessive inner forces caused by positioning errors of the robot and the crane. First, the necessary mechanical conditions to achieve the cooperation between position-controlled robots are reviewed . S...

To study intelligent auxiliary drive system of port machinery, it needs to identify operational intention of quayside container crane driver. With the background of loading and unloading process of quayside container crane, upon Hidden Markov Model, double HMM model is established. The algorithm of revised Forward-Backward is applied to calculate each likelihood of HMM in operation layer, the m...

Offline crane maneuvers, resulting in zero residual payload swing, have been explored previously using parameterized sets of basis functions. Assumptions usually included an ideal servo response and symmetric inputs. Nonsymmetric maneuvers, in general, do not have closedform basis function solutions. Actuator dynamics further complicate maneuver generation by introducing nonlinearities such as ...

The motivation for this thesis resulted from a study of semi-automated rail mounted gantry cranes at an Australian seaport container terminal. The Sequential Ordering Problem with Time Windows (SOP-TW) can arise as a subproblem of these crane operations. The SOP-TW corresponds to the task of scheduling a single crane to move a set of containers, where each container has: a fixed pick-up locatio...