Dynamics and control of an overhead shuttle transport system

This paper discusses the dynamics and control problem of an overhead shuttle transport system (STS), which is one of automated container handling equipment in the terminal at a port. The main purpose of the STS is the automated transport function of containers within the port in minimum time, which also requires high precision and safety. A major difference between the STS and a container crane is the configuration of the cables for holding the spreader. A mathematical model of the STS is developed in this paper, which results in an eight-pole system. Also, an open loop control is investigated in the way that the derived command for the overhead shuttle yields the minimum possible sway of the payload. Simulation results show that the vibration suppression capability of the STS is superior to the conventional overhead container crane, which is partially due to the cable configuration.