The Design And Implementation Of Quay Side Container Crane Anti-sway Control System

In1990, the container transport is applied in British for the first time.Now with the development of shipping industry and container cranes, thevirtue of container transport is appeared, that’s the good economy benefitand high efficiency. With the statistic data, the capability of the containerhanding is230,000TEU in the1970’s, and rises to128million TEU in2008. The huge vessel also appeared which with capacity of10,000TEU,so it pushes the crane technology improvement to reach the requirementof the customer.As the application on the quay side container crane control system,the thesis will analyze and research the spreader swing movement duringthe crane operation, design the anti-sway control system and at last put itinto practice. So far, there are not many application of anti-sway systemon the crane, because of that the present anti-sway system is not onlyexpensive, but also hard to commission and take the daily maintenance. Itlimits the application for the customer. With our design in the thesis, wewill share the PLC controller of the crane as the controller of anti-swaycontrol system to cut down the cost. Also, the design is based upon thefuzzy technology, it’s easy to commission and do the maintenance. ThePLC controller is the type of Siemens S7-400and remote I/O modules areET200series products, Master Driver series products from Siemens arealso applied in the system. The communication between the PLC, remoteI/O modules and drivers will base on the PROFIBUS. The thesis will notonly describe the fuzzy control application, but also the design steps ofthe crane control system, which includes the PLC programming, driverparameter setting, hardware configuration and the problem solving wayduring the commission.There are six chapters in the thesis, chapter one summarizes the whole thesis, introduces the general picture of the crane, the craneoperation, the main control of the crane, and also the idea of theanti-sway control system design. Chapter two describes the crane controlsystem. It introduces the PLC program, driver parameter setting, andPROFIBUS configuration. Chapter three introduces the theory the fuzzycontrol. Chapter four describes the anti-sway control system design,introduces the hardware components selection, fuzzy control design, andintegrating the fuzzy control into the crane control system. Chapter fivedescribes the commission. It analyzes the problems during thecommission and solves it. Chapter six is the sum-up and expectations inthe future.