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. In this paper, with using the method, traveling simulation analyses are performed and discussed to investigate the effects of lateral slope and friction property of traveling road and also side wind load as typical environmental disturbances. At the level of those disturbances which could occur during in-service condition in container yards, the effect of the side wind load on the lateral deviation of the crane traveling trajectory from the ideal straight trajectory is large and the deviation under conventional PD traveling trajectory control may be beyond the general allowable value.
