This paper describes the fundamental approach towards both time-optimal as well as safe and reliable operation of a gantry crane for containers. The control system for the horizontal movements consists of two separate controllers: one controller has been designed according the Model-Based Predictive Control principle (MBPC) for generating and following time optimal trajectories for the transport of the container from ship to quay or back; a second controller takes care for a fast and stable behaviour of the container in its end position with the required accuracy. The MBPC takes into account the constraints on maximum acceleration and speed. Obstacles between quay and container vessel are taken into account as well. The MBPC controls the transport of a container from a random starting position to a position close to the desired end position. Close to the end position, the stabilisation controller will gradually take over the control to position the container accurately. Influences of wind are also taken into account.
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