In the control of a container crane system, the traversing time of the trolley must be reduced as much as possible and the swing of the grab must be stopped at the end point For these requirements, usually the traversing interval is divided into three parts such as the accelerating interval, the constant speed interval and the decelerating interval. Since the container crane system which used in the general industrial fields have single trolley, but these requirements can not be satisfied so easily. In this paper, to satisfy these requirements and to avoid the problem, the crane system with two trolleys is proposed and demonstrated for the experimental results.
In the container terminal, the requirement of faster cargo handling work leads higher speeds and higher accelerations in the motion of cranes. The oscillating motion of the container box hanging on ropes is an unavoidable thing, but every users doesn't desire this. Though there is some papers concerning the problem requiring the minimum traversing time, only the problem without hoisting motion has been solved analytically in a satisfactory way. Manson(1977) gave the solution for a speed controlled motor. Alsop et al.(1965) and Manson(1977) also considered the hoisting motion of the load. But because they did not include the constraint of the trolley traversing speed, the results are only of restricted practical relevance. It is required that the load must be at rest at the end of the motion, and also that there is to be no swinging of the load in those sections of the transfer when the trolley traverses at constant speed(Mita and Kanai, 1979). Auernig and Troger(1987) treat the motion where only swing compensation at the target point is required. A different type approach has been used in Sakawa and Shindo(1982), instead of minimizing the transfer time, minimize the swing of the load.
