Anti-sway control of four-rope rubber-tired gantry crane based on fuzzy algorithm and virtual prototype

The rubber-tired gantry crane is one of the main types of port-handling cranes. However, during lifting operations, its four-rope winding system suffers from significant sway amplitude and slow sway dissipation, which affects operational efficiency. To meet the demands of modern port operations and enhance efficiency, this paper presents the design of an auxiliary anti-sway system for rubber-tired gantry cranes. Precise dynamic equations were derived using the Lagrangian modeling method, and a corresponding dynamic model was constructed. A proportional and derivative control algorithm is employed to achieve closed-loop control of the auxiliary anti-sway wire ropes, enabling real-time regulation of sway amplitude during lifting and improving anti-sway performance. To ensure robust performance under diverse operating conditions, a fuzzy adaptive proportional and derivative algorithm is utilized to further optimize its control performance. This paper validates the feasibility of the auxiliary anti-sway system through three key approaches: dynamic model development, virtual prototype co-simulation experiments, and field tests on an actual machine.