Model gantry crane with dynamic feedback swing control

This paper briefly documents key aspects of the dynamic modeling of a gantry crane, designed to transport 1:24 scale models of standard sixty foot long shipping containers using industrially applicable detection and control of dynamic cable swing resulting from very high speed operation, and environmental disturbances such as steady or gusting winds. A state variable feedback controller is designed for the gantry position and speed, as well as the load angle and angular velocity in order to move the containers of uncertain mass as quickly, accurately, and safely as possible. An overview is then presented of the mechanical structure, automation and drives configuration, measurements and actuators, control loops and mass observers, and software aspects of the crane design and implementation using a low cost commercial Siemens PLC container position and swing control loop commissioning and performance test results are presented and compared with closely matching simulation results which verify the successful design and implementation of the control loops, and of the crane as a whole.