Upravljanje elektromehaničkim sustavima pogona krana u lučkom terminalu

master's thesis

• Title (english): Control of electromechanical crane systems in Harbour terminal
• Author: Ivan Velenik
• Mentor: Fetah Kolonić (mentor)
• Committee member: Fetah Kolonić (član povjerenstva)
• Committee member: Jadranko Matuško (član povjerenstva)
• Committee member: Damir Sumina (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-07-07, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Brzi rast prijevoza robe kontejnerima doveo je do ubrzanog razvoja lučkih kontejnerskih kranova. U lučkom terminalu najčešće se mogu vidjeti gantri kranovi ili STS kranovi (eng. Ship-to-Shore). U svrhu točnog pozicioniranja tereta sa smanjenjem njihanja istog koriste se neke metode sa senzorima odnosno metode bez senzora. Sustavi za smanjenje njihanja sa senzorima najčešće uključuju kameru visoke rezolucije u kombinaciji sa nekom vrstom refleksivnog mehanizma za detekciju njihanja tereta. Neke kombinacije uključuju kameru za detekciju i dodatnu masu instaliranu na hvataljci za prigušenje njihanja. Sustavi za smanjenje njihanja bez senzora (eng. sensorless) mogu se zasnivati na matematičkom modelu krana pa se kut njihanja estimira pomoću soft senzora ili se ulaznim signalom upravlja modifikatorom referentne veličine. Druge metode mogu se zasnivati na zasebnom razmatranju sustava protiv njihanja te sustava za pozicioniranje ili se njihanjem tereta može upravljati u otvorenoj petlji oblikovanjem ulaznog signala.

Abstract (english)

The rapid growth of goods transportation with containers has led to the rapid development of port container cranes. Gantry cranes and STS cranes (Ship-to-Shore) are the kind of cranes usually used in a port terminal. For the purpose of accurate positioning of the load with reducing of the swing angle some sensor-based or sensorless methods can be used. Sensor-based anti-sway systems typically include a high resolution camera combined with some reflexive mechanism for detecting the load swing. Some combinatins may include a camera for detection and a damper mass for load swing suppression. Sensorless anti-sway systems can be based on a mathematical model of the crane and estimation of the swing angle with a soft sensor or controlling of the sway with a reference modifier. Other methods can be based on two independent systems: one for positioning and one for anti-sway control or anti-sway control using the input shaping method.

• Keywords: Gantri kran; STS kran; senzori; kamere visoke rezolucije; prigušenje njihanja; smanjenje njihanja bez senzora; matematički model krana; soft senzor; akcelerometar; inklinometar; oblikovanje ulaznog signala
• Keywords (english): Gantry crane; STS crane; sensors; high resolution camera; sway suppression; anti-sway; anti-swing; sensorless; mathematical model of the crane; soft sensor; accelerometer; inclinometer; reference modifier; input shaping
• Language: croatian
• URN:NBN: urn:nbn:hr:168:568490
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 14:17:01