Dynamics of the container crane on a mobile harbor

Abstract: In this paper, a dynamic model of a ship-mounted container crane (called the “mobile harbor”) subject to the motions of ship itself imparted by random sea waves is investigated. The condition of the sea is assumed to be State 3. The ship''s heaving, pitching and rolling motions are considered as the main motions in exciting the mounted crane. Equations of motion are derived using the Lagrange method. Simulation results reveal that the lateral sway angle of the load becomes the biggest in the beam sea, whereas the pitching motion of the ship in the heading sea is the biggest. As a conclusion, the operation of mobile harbors in the heading sea is recommended. The developed mathematical model has been validated by experiments. [Copyright &y& Elsevier]