Dynamics of container cranes: three-dimensional modeling, full-scale experiments, and identification

A three-dimensional modeling of container cranes subject to wind loads is presented together with full-scale experimental tests, system identification and model validation. The container is modeled as a rigid body elastically suspended from the trolley running along rails on top of the crane boom and girder. Differences are discussed with respect to a constrained model, in which the cables are unstretchable. Experimental investigations are carried out on a full scale container crane and the modal characteristics together with the damping coefficient are identified as function of the container height. Moreover, the nonlinearities induced by large-amplitude oscillations involving some of the modes are highlighted both in the context of numerical simulations and experimental tests. Time integration is carried out to validate the mechanical model by comparing its predictions with the experimental results. Typical working maneuvers together with the effects of wind-induced loads are taken into account to study the three-dimensional crane response.