Abstract
AC motor drive tire-mounted gantry cranes with high mobility and superb maintainability are widely introduced into cargo handling work in container yards. The increase of cargo handling work efficiency and the labor saving are required for those cranes. In order to accomplish these requirements rationally, a traveling simulation method has been established to analyze the dynamic behavior of the cranes with high precision. It could be used for the optimization of crane structure or traveling trajectory control. In this paper, the simulation method is extended for cranes with AC motor drive system. The models of AC motor drive system, crane body, tire and the interaction between tire and road are shown. Moreover, the usefulness of this method is demonstrated with some simulation results.
