Method for Removing Rocking Vibration in Anti-Sway Control System of a Transfer Crane in a Port

摘要

One of the most important functions of a cargo handing machine such as a transfer crane is sufficient cooperative operation with a container crane at a port container terminal. To minimize the container handling time, i. e. consolidate the convergence time of sway motion, a low-pass filter is used to separate a rocking vibration component from sway detection signal in a conventional control system. However, the characteristics of the low-pass filter produce a phase delay of the sway detection signal, which lowers anti-sway performance. In order to improve the performance, a notch filter with on-line system identification of rocking frequency is used instead of a low-pass filter as a filter for removing rocking vibration. Result of numerical simulations show that the proposed method decreases the convergence time for a sway of 200 mm to 50 mm from 10 .9 s to 6.2 s.