The theme of this master´s thesis with theme the modification of work conditions, it´s aim is to analyse existing and modified operating conditions of the machine and make their comparison. This work includes frame stress analysis, surface burdened by wind, the stability of the location and control of capacity at endurance.

The main objective of this work is to design robust, fast, and practical controllers for gantry and tower cranes. The controllers are designed to transfer the load from point to point as fast as possible and, at the same time, the load swing is kept small during the transfer process and completely vanishes at the load destination. Moreover, variations of the system parameters, such as the cable length and the load weight, are also included. Practical considerations, such as the control action power, and the maximum acceleration and velocity, are taken into account. In addition, friction effects are included in the design using a friction-compensation technique. The designed controllers are based on two approaches. In the first approach, a gain-scheduling feedback controller is designed to move the load from point to point within one oscillation cycle without inducing large swings. The settling time of the system is taken to be equal to the period of oscillation of the load. This criterion enables calculation of the controller feedback gains for varying load weight and cable length. The position references for this controller are step functions. Moreover, the position and swing controllers are treated in a unified way. In the second approach, the transfer process and the swing control are separated in the controller design. This approach requires designing two controllers independently: an anti-swing controller and a tracking controller. The objective of the anti-swing controller is to reduce the load swing. The tracking controller is responsible for making the trolley follow a reference position trajectory. We use a PD-controller for tracking, while the anti-swing controller is designed using three different methods: (a) a classical PD controller, (b) two controllers based on a delayed-feedback technique, and (c) a fuzzy logic controller that maps the delayed-feedback controller performance. To validate the designed controllers, an experimental setup was built. Although the designed controllers work perfectly in the computer simulations, the experimental results are unacceptable due to the high friction in the system. This friction deteriorates the system response by introducing time delay, high steady-state error in the trolley and tower positions, and high residual load swings. To overcome friction in the tower-crane model, we estimate the friction, then we apply an opposite control action to cancel it. To estimate the friction force, we assume a mathematical model and estimate the model coefficients using an off-line identification technique using the method of least squares. With friction compensation, the experimental results are in good agreement with the computer simulations. The gain-scheduling controllers transfer the load smoothly without inducing an overshoot in the trolley position. Moreover, the load can be transferred in a time near to the optimal time with small swing angles during the transfer process. With full-state feedback, the crane can reach any position in the working environment without exceeding the system power capability by controlling the forward gain in the feedback loop. For large distances, we have to decrease this gain, which in turn slows the transfer process. Therefore, this approach is more suitable for short distances. The tracking-anti-swing control approach is usually associated with overshoots in the translational and rotational motions. These overshoots increase with an increase in the maximum acceleration of the trajectories . The transfer time is longer than that obtained with the first approach. However, the crane can follow any trajectory, which makes the controller cope with obstacles in the working environment. Also, we do not need to recalculate the feedback gains for each transfer distance as in the gain-scheduling feedback controller. / Ph. D.

No description available.

A comprehensive study on berth and quay crane scheduling problems at container terminals at seaports is provided. Problems related to both multi-user terminals, where the terminal operator and liner carriers are different parties, and dedicated terminals, where liner carriers lease the terminal, are considered. A lower bound and an effective meta-heuristic algorithm are proposed for a dynamic variant of the Berth Allocation Problem (BAP). The Multiple Berth Allocation Problem (MBAP) is also introduced. Different crane scheduling methods used by terminal operators are analyzed and a tabu search algorithm is designed for a new variant of the Quay Crane Scheduling Problem (QCSP). The Simultaneous Berth and Quay Crane Scheduling Problem (BQCSP) is introduced with a lower bound analysis and an efficient solution method. A computational analysis is performed which exposes the substantial benefit of simultaneous planning over the hierarchical approach currently used by terminal operators. The tactical level Voyage and Berth Scheduling Problem (VBSP) is defined and a mathematical model based on multi-commodity network flow is presented. Constraints related to transshipments, terminal time windows and service level requirements are incorporated into the model, and how to modify instance data to increase schedule reliability is discussed.

This master´s thesis deals with the design of a crane trolley with the main and ancillary lift according to the specified parameters. The aim of the work is the elaboration of technical calculations and drawing documentation. The technical report deals with the design of lifting mechanisms, travelling mechanism and design and strength control of the crane frame. The drawing documentation includes a stroke assembly drawing, a travel assembly drawing, a frame steel structure assembly drawing, and a general crane cat assembly drawing.

This diploma thesis deals with the assessment of drafted steel construction of overhead travelling crane by using finite element method. The crane’s lifting capacity is 125t/32t. It is going to be placed in hall of Slovácké strojírny, a. s. in Uherský Brod. Span of the crane is 25.8 meters, wheelbase is 6.7 meters and lifting height is 17 meters. My work contains analysis and assessment of crane construction with a load of fatigue according to ČSN 27 0103.

Container traffic in seaports around the world in constantly increasing, with energy costs being a significant part of the total costs. The container terminal (CT) of the Port of Gävle, the largest in the east coast of Sweden, is not an exception to this. With traffic growing annually, a new terminal will be opened in the following years, adding three more ship-to-shore (STS) cranes to the two existing ones, and six electric rubber tyred gantry (eRTG) cranes. Therefore, it is highly important to strengthen energy efficiency measures, reducing the energy consumption and the costs associated with it. This is why the aim of this report is to analyse whether implementing energy storage systems in the cranes of the container terminal Port of Gävle can contribute to reduce electricity costs by recovering energy when braking lowering containers, and by shaving power peaks. After a literature review of current energy recovery and storage options, this work presents three solutions: two alternatives for the current situation with two ship-to-shore (STS) cranes, and a third solution to be implemented in the three future STS cranes to be installed, which can also be beneficial for any other crane in the terminal. According to the made calculations, the three alternatives can reduce considerable energy consumption, and they are highly profitable. However, those solutions are a preliminary study and more work needs to be done to determine the exact profitability and technical system details. This work has been done in collaboration with the Port of Gävle and Yilport, the company operating the container terminal.

Crane motion induces payload oscillation that makes accurate positioning of the payload a challenging task. As the payload size increases, it may be necessary to utilize multiple cranes for better control of the payload position and orientation. However, simultaneously maneuvering multiple cranes to transport a single payload increases the complexity and danger of the operation. This thesis investigates the dynamics and control of dual-hoist bridge cranes transporting distributed payloads. Insights from this dynamic analysis were used to design input shapers that reduce payload oscillation originating from various crane motions. Also, studies were conducted to investigate the effect input shaping has on the performance of human operators using a dual-hoist bridge crane to transport distributed payloads through an obstacle course. In each study, input shaping significantly improved the task completion time. Furthermore, input-shaping control greatly decreased operator effort, as measured by the number of interface button pushes needed to complete a task. These results clearly demonstrate the benefit of input-shaping control on dual-hoist bridge cranes. In addition, a new system identification method that utilizes input shaping for determining the modal frequencies and relative amplitude contributions of individual modes was developed to aid in the dynamic analysis of dual-hoist bridge cranes, as well as other multi-mode systems. This method uses a new type of input shaper to suppress all but one mode to a low level. The shaper can also be used to bring a small-amplitude mode to light by modifying one of the vibration constraints.

Cranes are often the most conspicuous machines on a construction site. This is due to their large size, in addition to the important role they have in transporting heavy payloads vertically and horizontally. There are two major families of construction cranes: tower cranes and mobile cranes. Mobile cranes that are mounted on tracks are a subgroup referred to as ``crawler cranes''. Crawler cranes are widely used on construction sites, and are a backbone of the United States construction industry, thus a detailed study of these cranes' behavior is essential. This research studies the tip-over stability of crawler cranes in heavy-lifting applications. Two major applications are discussed: crawler cranes using movable counterweights and crawler cranes in tandem lifting.

Every year the Eurasian crane travel from northern Africa to northern Europe and Asia. On their migration route they need to rest and often choose places around shallow lakes in agriculture landscapes. During their time in these resting sites the cranes forage in agriculture fields surrounding the lakes, which often cause crop-damage and thereof also financial loses. The last 30 years the population has increased radically, resulting in more extensive crop-damage. This study was set out to gain a better understanding how these migrating cranes choose sites to forage, based on four environment factors: roads, water, buildings, trees and shrub. A study-area in north of Lake Tåkern was selected and during six days in the spring all the cranes in the area were counted and marked on a map. The results showed that the factors affected the occurrence of cranes in the fields. They wanted to be close to shallow water and keep a distance to buildings, roads, trees and shrub. The cranes often spend the night in shallow water and search for food in the area close by to not lose too much energy, which probably was the main reason for the birds to stay close to the water. The distance to buildings and roads suggests that the cranes want to avoid interference from humans and the distance to trees and shrub that they want to have a good awareness of their surroundings. Through this understanding, areas with higher risk to attract groups of cranes can more easily be identified.