The topic of this diploma thesis is the frame of the foundry trolley crane 330/65/20t. The crane crab is used for handling with molten metal. The frame is analyzed by strength inspection and fatigue strength inspection. The process is according to ČSN EN 13001. The analyses are made by using finite element method on a beam and shell models. The diploma thesis was made in cooperation with the Královopolská a.s. company.

Ausbildung mit moderner Software für Festigkeitsberechnungen ist im Ingenieursstudium unabdingbar. Die Studierenden sollten hierbei bevorzugt Methodenkompetenz erwerben, um auf spätere Umgebungs- und Generationswechsel bestmöglich vorbereitet zu sein. Einfach zu erlernende und zu bedienende Programme sind hierfür von Vorteil. Langfristiges Ziel ist es, Wissen zu aktuellen Berechnungs- und Nachweismethoden in die Industrie zu transferieren. Es werden zwei SimSolid-Berechnungsprojekte - Kranhilfsrahmen und Lokomotiv-Dampfkessel – aus Branchen vorgestellt, denen bisher praktikable Möglichkeiten für Festigkeitsberechnungen an großen Baugruppen fehlten. / Training with modern software for strength calculation is essential in engineering studies. The students should preferably acquire methodological competence. In this way, they are best prepared for changes in software version or program environment. Programs that are easy to learn and use are advantageous for this. The goal is to transfer knowledge about current calculation and verification methods to industry. Two SimSolid calculation projects will be presented - Crane Subframe and Locomotive Boiler. Strength calculations on large assemblies have not been common in these industrie sectors up to now.

Neste trabalho, é apresentado um processo de análise de estruturas de edifícios industriais metálicos, constituídas de pilares de seção composta, com variação brusca de seção ao nível de assentamento da viga de rolamento, e traves em treliça. O processo tem como objetivo a determinação do carregamento crítico que produz a instabilidade elástica geral por flexão ou por flexo-torção, dos pilares supostos engastados na base e vinculados elasticamente na sua extremidade superior à trave do telhado. A estrutura é analisada pelo processo dos deslocamentos, empregando-se a técnica matricial com discretização de seção dos pilares, de modo que todo o pilar discretizado seja representado por uma estrutura tridimensional equivalente composta por barras. Esta análise é desenvolvida no regime elástico, em teoria de segunda ordem, computando as modificações nas condições de equilíbrio decorrentes do estado deslocado da estrutura. Como parte do desenvolvimento do trabalho, é analisado inicialmente os efeitos dos vínculos elásticos na parte superior dos pilares, os quais modificam os comprimentos efetivos de flambagem, considerando o pórtico transversal apenas com elementos de barra deformáveis por flexão em seu plano. Finalmente, é analisado o comportamento completo dos pilares integrados à estrutura do pórtico transversal, considerando-os discretizados e vinculados à trave do telhado. Obtém-se então o limite de estabilidade dos pilares tridimensionais, deformáveis por flexão ou por flexo-torção. Fluxogramas das programações são apresentados para facilitar o entendimento do processo. Exemplos numéricos são apresentados e seus resultados são comparados com os obtidos por outros autores e com os da aplicação de recomendações de normas técnicas. Os resultados mostram que a aplicação do processo proposto fornece parâmetros capazes de representar o comportamento real dos pilares, possibilitando dimensionamentos mais precisos. / This thesis presents a process for analysis of steel industrial buildings, with stepped columns with sudden variation of section at the level of the crane runway girder and truss chords. The process aims at the determination of the global elastic, flexural or flexural-torsional, instability limit for columns with fully restrained rotations at the basis and elastically connected to the chord. The stiffness method is applied, using the matrix analysis technique with discretization of the column elements, resulting an equivalent three-dimensional structure. The analysis is developed in second order theory, in the elastic range, computing the changes in equilibrium due to the deformed shape of the structure. First, the effects of elastic connections at the tops ot the columns are analyzed. These effects are responsible for changes in the effective buckling lengths, considering the transversal frame as beam elements deforming by bending in their own planes. Finally, an analysis is performed for the overall behavior of the whole transversal frame structure, with the discretized columns connected to the frame chord. The stability limit is obtained for the three-dimensional columns, which is deformable by bending or torsion-bending. Flowcharts are presented to help in the process understanding. Numerical examples are presented, comparing to results obtained by other researchers or to specifications from technical norms. Results show that the application ot the proposed approach leads to parameters capable of representing the actual behavior of the columns, thus resulting in more efficient design.

Kwok, Yat Kam. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2007. / Includes bibliographical references (leaves 105-109). / Abstracts in English and Chinese. / Abstract --- p.i / 論文摘要 --- p.iii / Acknowledgments --- p.iv / Introduction --- p.1 / Chapter Chapter One: --- A Romantic Poet with a Roving Vision: Walt Whitman's Poems --- p.20 / Chapter Chapter Two: --- A Medley of Images: Stephen Crane's Youthful War --- p.45 / Chapter Chapter Three: --- Survivors under Siege: Ambrose Bierce's Modern War --- p.71 / Conclusion --- p.100 / Works Cited --- p.105

In this thesis a class of robust non-linear controllers for a gantry crane system are discussed. The gantry crane has three degrees of freedom, all of which are interrelated. These are the horizontal traverse of the cart, the vertical motion of the goods (i.e. rope length) and the swing angle made by the goods during the movement of the cart. The objective is to control all three degrees of freedom. This means achieving setpoint control for the cart and the rope length and cancellation of the swing oscillations. A mathematical model of the gantry crane system is developed using Lagrangian dynamics. In this thesis it is shown that a model of the gantry crane system can be represented as two sub models which are coupled by a term which includes the rope length as a parameter. The first system will consist of the cart and swing dynamics and the other system is the hoist dynamics. The mathematical model of these two systems will be derived independent of the other system. The model that is comprised of the two sub models is verified as an accurate model of a gantry crane system and it will be used to simulate the performance of the controllers using Matlab. For completeness a fully coupled mathematical model of the gantry crane system is also developed. A detailed design of a gain scheduled sliding mode controller is presented. This will guarantee the controller's robustness in the presence of uncertainties and bounded matched disturbances. This controller is developed to achieve cart setpoint and swing control while achieving rope length setpoint control. A non gain scheduled sliding mode controller is also developed to determine if the more complex gain scheduled sliding mode controller gives any significant improvement in performance. In the implementation of both sliding mode controllers, all system states must be available. In the real-time gantry crane system used in this thesis, the cart velocity and the swing angle velocity are not directly available from the system. They will be estimated using an alpha-beta state estimator. To overcome this limitation and provide a more practical solution an optimal output feedback model following controller is designed. It is demonstrated that by expressing the system and the model for which the system is to follow in a non-minimal state space representation, LQR techniques can be used to design the controller. This produces a dynamic controller that has a proper transfer function, and negates the need for the availability of all system states. This thesis presents an alternative method of solving the LQR problem by using a generic eigenvalue solution to solve the Riccati equation and thus determine the optimal feedback gains. In this thesis it is shown that by using a combination of sliding mode and H??? control techniques, a non-linear controller is achieved which is robust in the presence of a wide variety of uncertainties and disturbances. A supervisory controller is also described in this thesis. The supervisory control is made up of a feedforward and a feedback component. It is shown that the feedforward component is the crane operator's action, and the feedback component is a sliding mode controller which compensates as the system's output deviates from the desired trajectory because of the operator's inappropriate actions or external disturbances such as wind gusts and noise. All controllers are simulated using Matlab and implemented in real-time on a scale model of the gantry crane system using the program RTShell. The real-time results are compared against simulated results to determine the controller's performance in a real-time environment.

<p>A container crane of STS-type, Ship To Shore, consists of a spreader hanging underneath a railrunning trolly. As the container is under the influence of wind, it is likely that it starts to turn in a torsional pendulum. This report handles how the torsional pendulum of a container crane can be damped. </p><p>A number of different models have been developed to analyze how different placement of the actuators affects the system. Two differens types of controllers, LQG and MPC, have been developed and applied to these models. The different models and controlers were evaluated and compared by studying simulation results in timedomain. Moreover in order to make the simulations more realistic, a wind model has been developed and applied. </p><p>The models and controllers have been analyzed with bodediagrams and sensitivity functions. </p><p>The analyses shows clearly that the best placement of the actuators for control of the torsional pendulum on an STS-crane is in the trolly, pulling and relaxing the wires. This control is best handled by a state feedback control (LQG). Furthermore, the control should in this way, with addition of in the horizontalplane movable suspensions in the trolly, work acceptably in the whole operational area of a STS-crane.</p>

Det här rapporten är en del av mitt examensarbete för högskoleingenjörsexamen i elektroteknik vid Växjö Universitet, MSI. Arbetet är en del av ett större projekt kallat Kranstyrningsprojektet som bedrivs av Växjö Universitet, Rottne Industri med flera, vars syfte är att underlätta för förare att kontrollera den kran som finns på Rottnes skotare. För projektet har det använts en laborationskran och nu har önskemålet varit att det till kranen ska installeras ett nytt styrsystem från dSPACE. Dessutom vill man att nya givare ska sättas på kranen och kopplas till dSPACE. Man vill även ha en manual för att nya studenter ska kunna använda systemet. Det nya dSPACE-systemet består av en datorlåda med processor- och I/O-kort. Man kommunicerar med dSPACE från en PC. Arbetet med installationen har stött på flera problem och arbetet har dragit ut på tiden. När systemet till slut gick att använda utfördes ett par tester och sen implementerades det på kranen. Arbete med att ta fram underlag för installation av accelerometrar på kranen pågick samtidigt och en jämförelse mellan olika alternativ gjordes. Arbetet resulterade i att laborationskranen nu går att styra med det nyinköpta systemet från dSPACE och en manual skapades för att underlätta användandet av systemet. / This document is a part of my bachelor degree thesis in electronic engineering was done at Växjö University, MSI. This work is a part of a bigger project called Crane Tip Control which is pursued by Växjö University, Rottne Industri and others, whose purpose is to facilitate for drivers to control the crane used on forwarders from Rottne. For this project, a laboratory crane has been used and they requested that a new control system from dSPACE was installed to the crane. Also they want new sensors to be placed on the crane and connected to dSPACE. A manual should also be created for new students who want to use the system. The new dSPACE-system consists of a computer box with processor- and I/O-boards. Communication with dSPACE is done via a PC. The work with the installation has encountered many problems and the work has been overrun. When the system finally was working, some tests were performed and then the system was installed at the crane. A task to assemble data for installation of accelerometers, was done during the same time and a comparison between different alternatives was made. The work resulted in the laboratory crane is now able to be controled by the new dSPACE-system and a manual was created to facilitate the usage of the system.

A container crane of STS-type, Ship To Shore, consists of a spreader hanging underneath a railrunning trolly. As the container is under the influence of wind, it is likely that it starts to turn in a torsional pendulum. This report handles how the torsional pendulum of a container crane can be damped. A number of different models have been developed to analyze how different placement of the actuators affects the system. Two differens types of controllers, LQG and MPC, have been developed and applied to these models. The different models and controlers were evaluated and compared by studying simulation results in timedomain. Moreover in order to make the simulations more realistic, a wind model has been developed and applied. The models and controllers have been analyzed with bodediagrams and sensitivity functions. The analyses shows clearly that the best placement of the actuators for control of the torsional pendulum on an STS-crane is in the trolly, pulling and relaxing the wires. This control is best handled by a state feedback control (LQG). Furthermore, the control should in this way, with addition of in the horizontalplane movable suspensions in the trolly, work acceptably in the whole operational area of a STS-crane.

Container cranes represent one of the most critical components of ports worldwide. Despite their importance to port operations, the seismic behavior of cranes has been largely ignored. Since the 1960s, industry experts have recommended allowing cranes to uplift, believing that it would limit the amount of seismic loading. However, modern cranes have become larger and more stable, and the industry experts are now questioning the seismic performance of modern jumbo cranes. The main goal of this research was to experimentally investigate the seismic behavior of container cranes from the general elastic behavior through collapse, including non-linear behavior such as buckling and cross section yielding, utilizing the 6 degree-of-freedom shake tables at the University at Buffalo. The testing was divided into two phases. The first phase of testing was conducted on a 1/20th scale model. The second phase of testing was conducted on a 1/10th scale model, which was designed such that no inelastic action would develop prior to uplift (as is the common design practice). In support of the experiments, finite element models were created to determine what simplifications could be made to the structure to aid in testing. The data collected from the testing has been used to validate finite element models, to give a better understanding of the behavior of container cranes under seismic excitations, validate fragility models, and to develop recommendations and guidelines for the design and testing of container cranes.

<p>Det här rapporten är en del av mitt examensarbete för högskoleingenjörsexamen i elektroteknik vid Växjö Universitet, MSI. Arbetet är en del av ett större projekt kallat Kranstyrningsprojektet som bedrivs av Växjö Universitet, Rottne Industri med flera, vars syfte är att underlätta för förare att kontrollera den kran som finns på Rottnes skotare. För projektet har det använts en laborationskran och nu har önskemålet varit att det till kranen ska installeras ett nytt styrsystem från dSPACE. Dessutom vill man att nya givare ska sättas på kranen och kopplas till dSPACE. Man vill även ha en manual för att nya studenter ska kunna använda systemet. Det nya dSPACE-systemet består av en datorlåda med processor- och I/O-kort. Man kommunicerar med dSPACE från en PC. Arbetet med installationen har stött på flera problem och arbetet har dragit ut på tiden. När systemet till slut gick att använda utfördes ett par tester och sen implementerades det på kranen. Arbete med att ta fram underlag för installation av accelerometrar på kranen pågick samtidigt och en jämförelse mellan olika alternativ gjordes. Arbetet resulterade i att laborationskranen nu går att styra med det nyinköpta systemet från dSPACE och en manual skapades för att underlätta användandet av systemet.</p> / <p>This document is a part of my bachelor degree thesis in electronic engineering was done at Växjö University, MSI. This work is a part of a bigger project called Crane Tip Control which is pursued by Växjö University, Rottne Industri and others, whose purpose is to facilitate for drivers to control the crane used on forwarders from Rottne. For this project, a laboratory crane has been used and they requested that a new control system from dSPACE was installed to the crane. Also they want new sensors to be placed on the crane and connected to dSPACE. A manual should also be created for new students who want to use the system. The new dSPACE-system consists of a computer box with processor- and I/O-boards. Communication with dSPACE is done via a PC. The work with the installation has encountered many problems and the work has been overrun. When the system finally was working, some tests were performed and then the system was installed at the crane. A task to assemble data for installation of accelerometers, was done during the same time and a comparison between different alternatives was made. The work resulted in the laboratory crane is now able to be controled by the new dSPACE-system and a manual was created to facilitate the usage of the system.</p>