Proposals for a cargo anti-sway method using motor torque control

2018;
: pp. 88-94
1
National University “Odessa Maritime Academy”
2
Odessa National Polytechnic University

The paper discusses the cargo anti-sway method based on the induction motor torque control using modern variable frequency drives. The main equations relating the tractive force and the cargo sway angle, on the basis of which the motor torque control law is formulated for zero cargo sway at the end of accelerating and braking, are written. The results of simulating the behaviour of the two-mass trolley-cargo system are presented for the typical ratios of the cargo weight to the rope length, which support the assumption about the feasibility of cargo anti-sway control by direct motor torque control.

  1. R. Gerasymiak and V. Leshchev, Analysis and Synthesis of Electromechanical Systems of Cranes. Odesa, Ukraine: SMIL, 2008. (Russian)
  2. V. Busher and L. Melnikova, “Anaysis and Comparison of Different Methods of Anti-Sway Control of a Rope-attached Load, Problemy Sozdaniya Novykh Mashin i Tekhnologiy, vol. 8, no. 1, pp. 236 – 240, Kremenchuk, Ukraine: Kremenchuk State Polytechnic Institute, 2000. (Russian) http://aep.at.ua/load/1-1-0-353
  3. Sozdaniya Novykh Mashin i Tekhnologiy. Nauchnyie Trudy KGPI, Kremenchuk, Ukraine:  KGPI. Vyip. 1 / 2000 (8), pp. 236 – 240 http://aep.at.ua/cargo/1-1-0-353 (Russian)
  4. R. Gerasimyak, V. Busher, and L. Melnikova, “Mathematical Model of the Crane Electromechanical System with a Swinging Load under Optimal Control, Scientific Bulletin of Kherson State University, vol. 8, no. 2, pp. 74 – 76, Kherson, Ukraine, 2000. (Russian)
  5. R. Gerasymiak, L. Melnikova, and A. Shestaka, “Optimal Control of Electric Drive Rotational Mechanisms Accounting for the Mechanical Components”, in Proc. 5th Conf. on Technology and Automation, pp. 264 – 266, Thessaloniki, Greece, 2005.
  6. V.Busher, L.Melnikova, and A.Shestaka, “Control optimization of container-cranes electric drives at coordinated operation of the mechanisms”, Electrotechnic and Computer Systems, no. 17(93), pp. 23–28, Odesa, Ukraine: Odesa National Poytechnic University, 2015. (Russian) https://etks.opu.ua/graeason.html?fetch=articles&with=info&id=627
  7. V. Busher, L. Melnikova, and A. Shestaka, “Coordinated control of simultaneous operation of container crane mechanisms”, Electrotechnic and Computer Systems, no. 19(95), pp. 58-61, 2015. https://etks.opu.ua/ru?fetch=articles&with=info&id=674
  8. K. Khandakji, V. Busher, and L Melnikova, “Anti-Sway System for Container Cranes with Coordinated Motion Control and Reduced Dynamic Cargos”, Jordan Journal of Electrical Engineering, vol. 3, no. 2, pp. 86–101, Tafila, Jordan: Tafila Technical University, 2017. http://jjee.ttu.edu.jo/docs/vol3no2/JJEE_vol_3_no_2_pp_86_101.pdf
  9. N. Miyata and M.Nishioka, “Development of Feedforward Anti-Sway Control for Highly Efficient and Safety Crane Operation”, Mitsubishi Heavy Industries Ltd Technical Review, vol. 38, no. 2, pp. 73–77, 2010.
  10. N. Sun and Y. Fang, “Nonlinear tracking control of underactuated cranes with cargo transferring and lowering: theory and experimentation”, Automatica, vol. 50, no. 9, pp. 2350-2357, 2014.
  11. K. Khandakji and K. Zdrozis, “Optimum sway control for overhead traveling cranes”, WSEAS Transactions on Circuits and Systems, vol. 7, no.6, pp. 521-527, 2008.