Payload oscillations control in harbor cranes via semi-active vibration absorbers: Modeling, simulations and experimental results

Semi-active vibration absorbers (SAVAs) are proposed to suppress large amplitude oscillations in container cranes during maneuvers and wind forcing. The SAVA design and optimization are achieved via suitable nonlinear models, numerical simulations, and laboratory as well as full-scale tests. A comprehensive nonlinear modelling, featuring a full three-dimensional crane model and the adaptive vibration control architecture, is devised. The container is modeled as a rigid body elastically suspended from the trolley traveling along the crane boom. Two identical SAVAs are studied coupling their equations of motion - which include the impact against rubberized end stops - with the container crane dynamics. Suitable parametric analyses are carried out to investigate and optimize the control devices. Full-scale experiments are performed to validate the semi-active control architecture which proves to be a feasible approach.