The characteristics of deriving control of crane [deriving read driving]

This paper studies the lateral motion and yaw motion of a crane that is used for automated container terminals. Two types of driving wheel shape, cone and flat, are used. In the cone type, the lateral vibration and yaw motion of the crane are issued. In the flat type, the collision between the wheel-flange and rail or the fitting between wheel-flanges and rail is issued. To solve these problems, the lateral and yaw dynamic equations of the driving mechanism of two driving wheels are derived. Then control characteristics of the driving crane are also studied. In this study, the proposed model-based controller is used to control the lateral displacement and yaw angle of the crane. The efficiency of the proposed controller is confirmed and compared with a PD controller. The simulation results of the driving mechanism, using the Runge-Kutta Method, are also presented