This book introduces and develops the mathematical models used to describe crane dynamics, and explores established and emerging control methods employed for industrial cranes. It opens with a general introduction to the design and structure of various crane types including gantry cranes, rotary cranes, and mobile cranes currently being used for material handling processes. Mathematical models describing their dynamics for control purposes are developed via two different modeling approaches: lumped-mass and distributed parameter models. Control strategies applicable to real industrial problems are then discussed, including open-loop control, feedback control, boundary control, and hybrid control strategies. Finally, based on the methods covered in the book, future research directions are proposed for the advancement of crane technologies. This book can be used by graduate students, engineers, and researchers in the material handling industryincluding those working in warehouses, manufacturing, construction sites, ship building, seaports, container terminals, nuclear power plants, and in offshore engineering.

Autorentext

Keum-Shik Hong received his B.S. degree from Seoul National University, M.S. degree from Columbia University, and Ph.D. degree from the University of Illinois at Urbana-Champaign in 1979, 1987, and 1991, respectively, all in mechanical engineering, and he has additional M.S. degree in applied mathematics. He joined the School of Mechanical Engineering, Pusan National University, in 1993 and he is currently a professor. His Integrated Dynamics and Control Laboratory was designated as a National Research Laboratory by the Ministry of Education, Science and Technology (MEST) of Korea in 2003. He also initiated the Department of Cogno-Mechatronics Engineering under the auspices of the World Class University program of the MEST of Korea in 2009. He received the Presidential Award of Korea in 2007. He was the Editor-in-Chief of the Journal of Mechanical Science and Technology from 2008 to 2011, and is the Editor-in-Chief of the International Journal of Control, Automation, and Systems from 2018 to date. He is IEEE Fellow, ICROS Fellow, and a Fellow of the Korean Academy of Science and Technology. He is also a member of ASME, KSME, KSPE, KIEE, KINPR, and the National Academy of Engineering of Korea. He was the President of the Institute of Control, Robotics and Systems in 2015, and is the President-Elect of Asian Control Association for 2018-2019. His research interests include adaptive control, autonomous vehicles, brain-computer interfaces, and systems theory.

Umer Hameed Shah received his B.E. degree and M.S. degree in mechanical engineering from the National University of Sciences and Technology, Pakistan, in 2005 and 2012, respectively, and PhD degree from the School of Mechanical Engineering, Pusan National University (PNU), Korea, in 2018. His research focuses on the dynamics and vibration control of lumped-mass and distributed-parameter systems. He has received the Outstanding Paper Award from the Chinese Automatic Control Society, Taiwan, in 2015.

Inhalt
1 Introduction 1.1 Gantry Cranes
1.1.1 Overhead Cranes
1.1.2 Container Cranes
1.2 Rotary Cranes
1.2.1 Boom Cranes 1.2.2 Tower Cranes 1.3 Mobile Cranes
References

2 Lumped-Mass Models of Gantry Cranes
2.1 Single-Rope Hoisting Models 2.2 Multi-Rope Hoisting Models
2.3 Double Pendulum Crane Models 2.4 Underwater Load Transportation 2.5 Simulations References
3 Lumped-Mass Models of Rotary Cranes
3.1 Tower Cranes
3.2 Boom Cranes
3.3 Simulations References

4 Lumped-Mass Models of Mobile Cranes
4.1 Truck-Mounted Cranes 4.2 Ship-Mounted Cranes 4.2.1 Ship-Mounted Boom Cranes 4.2.2 Mobile Harbor System 4.3 Simulations 4.3.1 Simulation Code for MH System Dynamics References
5 Distributed-parameter Models
5.1 Crane Systems Operating in Air 5.1.1 Two-dimensional Overhead Crane with Flexible Hoisting Rope 5.1.2 Overhead Crane as Flexible Double-Pendulum System 5.1.3 Overhead Crane asAxially Moving System

5.2 Underwater Applications
5.2.1 Offshore Crane for Subsea Installation 5.2.2 Nuclear RM
5.3 Simulations
5.3.1 MATLAB Code for Underwater Responses of the RM References
6 Open-loop Control
6.1 Optimal Control 6.1.1 Bang-Bang and Bang-offBang Trajectories 6.1.2 Time-Optimal Control Considering Load Hoisting 6.2 Input Shaping 6.2.1 Input Shaping for Underwater Systems 6.3 Simulations References
7 Feedback Control
7.1 Linear Feedback Control 7.2 Nonlinear Feedback Control 7.2.1 Delayed Feedback Control 7.2.2 Sliding Mode Control 7.2.3 Intelligent Control
7.3 Hybrid Control Methods 7.4 Feedback Control Application to Distributed-Parameter Systems 7.4.1 Boundary Control of Refueling Machine 7.5 Simulations 7.5.1 MATLAB Code for theBoundary Control of the RM References
8 Conclusions and Future Research Directions
8.1 Future research directions

Appendix A
Appendix B
Appendix C
Appendix DAppendix E
Appendix F
Appendix G
Appendix H
Appendix I
Appendix J