Electro-Mechanical Modelling and Load Sway Simulation of Container Cranes with Hoisting

In this work, a nonlinear model representing the dynamics of the load sway of a container crane is derived. The dynamics of the induction motors are also taken into consideration in addition to the simultaneous travelling, trolley and hoisting motions. The data of a small container crane is used to simulate the behavior of the load under an actual transportation plan with load hoisting. The container sway is found to be relatively high and may exceed the safe limits, especially for load hoisting and crane acceleration. Hence, the derived model can be implemented to achieve safe transportation plans. A feedback control scheme can be also developed on the basses of the derived model