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The new position control scheme at the terminal time in 3-D space is proposed for mobile harbor (MH) crane system equipped with a dual-stage trolley and hoist. Wave-induced motions of the MH and container ship cause swing of the payload and time-varying target position. Since the payload being applied by resonant disturbances should be loaded or unloaded on the moving container ship with resonance...
In this paper, the performance of tracking control algorithm to apply to the mobile harbor(MH) crane trolley control system is verified with 1/20 scale experiment. MH is a novel maritime cargo transfer system which is recently proposed by KAIST. A relative motion between MH and container ship is caused by external disturbances such as wave and wind because loading/unloading operation of MH system...
A work efficiency and safety of Mobile Harbor crane in the open sea condition are considered as serious problem because Mobile Harbor have 6 degree of freedom motion caused by external disturbance such as wave and wind. It is the core technology to suppress the sway and surge motion of containers during loading and unloading operation in this Mobile Harbor project. KAIST Mobile Harbor center proposed...
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