Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Faculty of Mechanical Engineering, Belgrade. All rights reserved FME Transactions (2013) 41, 291-297 291
the trolley only. All common features of all moving slow speeds occurs near the middle of the beam because
force models are that the forces are known in advance. the system reduces to a quasi static situation.
Therefore structure-trolley interaction cannot be Oguamanams model was extended in [6]. An
considered. On the other hand the moving force overhead crane, modeled as a point mass carriage
models are very simple to use and yield reasonable traversing a simply supported Euler-Bernoulli beam that
structural results in some cases. The review paper is allowed to travel in a direction perpendicular to its
concerning with the fundamental load problem of a span, is considered. The point mass payload is attached
uniform simply supported Euler-Bernoulli beam to the carriage via a massless beam and is allowed both
subjected to a constant vertical force moving at a in-plane and out-of-plane motion, Figure 2 [6]. The
constant speed is written by [2] and gives a basic Rayleigh-Ritz solution technique is used to obtain the
understanding of the moving load phenomenon. An equations of motion of the system. The influences of
excellent overview of moving load dynamic problem is traverse and travel motions, pendulum length and
given in [3]. payload mass on the pendulum motion are investigated.
Figure 4. Wus mathematical model for a crane hoisting a swinging mass [8]
Younesian has presented in [9], Figure 5, nonlinear system are given for oscillator moving on beam
vibration of a three-dimensional moving gantry crane structure. Dynamic responses in the vertical direction
carrying a trolley hoisting a swinging object. A finite for all DOFS are obtained by solving the governing
element method is used to solve nonlinear coupled equations with direct integration method. For validation
governing equations of the structure. A combinational purposes, the technique is first applied to a simple beam
technique (Newmark-Runge-Kutta) is employed for subjected to a force moving along the beam with
direct integration procedure. To develop a constant velocity. The influence of moving velocity and
comprehensive parametric study and sensitivity analysis spring stiffness are investigated.
of the coupled nonlinear system, sequence of numerical The moving load problem is also considered for jib
simulations are carried out. Parametric study is directed cranes. Dynamics of a two-dimensional jib crane
to find out how different parameters like speed and structure subjected to a moving trolley with hoist and
acceleration of the trolley and gantry crane as well as payload is investigated, Fig. 7 [11]. Dynamic responses
the mass of the moving trolley and swinging object may of the structure, both in the vertical (Y) and horizontal
affect the linear and nonlinear responses of the direction (X), are calculated using the finite element
structure. It is found that the nonlinearity arises from method and the direct integration method. Instead of the
large amplitude of three-dimensional motion of the conventional moving force problem, the paper [11]
swinging object. deals with the two-dimensional inertial effects due to
The dynamics of an overhead crane system with the the masses of trolley, hoist and payload. For this
suspended payload on the trolley moving at a specified purpose, the moving mass matrix has been used to give
constant speed is considered in paper [10]. The beam is contribution to the overall mass matrix of the entire
discretizied by 10 elements, while the trolley is modeled system. The title problem was solved by calculating the
as particle along with payload suspended with rope forced vibration responses of the jib crane structure with
system modeled as spring, Figure 6 [10]. The overall time-dependent overall mass while subjected to an
mass, damping and stiffness matrix is calculated at each equivalent moving force. Factors as magnitude, speed
time interval, along with finite element formulation of and acceleration of the moving trolley were studied as
equivalent force vector. Equations of motion of MDOF well.
In recent years, considerable efforts have been made especially during the design stage and particularly
in order to better understand the dynamic behavior and having in mind the large dimensions of the boom and
vibration of larges QCC under a moving trolley, trolley mass [15]. Mathematical model of moving load
particularly because of a construction of faster and action on QCC is presented in Figure 8 [12, 15].
heavier trolleys and the design of slender support The dynamics of a two-dimensional gantry crane
structures without strict deflections limits. This fact structure subjected to a moving trolley with hoist and
resulted in several papers discussing the application of payload is examined in [16].
moving load problem in analysis of structural behavior Dynamic responses of the structure, both in vertical
of QCCs [12, 13, 14]. This is due to the fact that modern (Y) and horizontal direction (X), are postulated using
high-performance mega QCCs have already tripled in the combined finite element and analytical method and
outreach and load capacity compared to the first QCC solved with the direct integration method. Instead of the
built in 1959. conventional moving force problem, the two-
This is not easily accomplished given the dimensional inertial effects due to the overall mass of
cantilevered nature of QCC. A cantilever (waterside trolley, hoist and payload have been considered in this
boom) identified as the more important structural part is paper, Figure 9 [16]. The title problem was solved by
structurally inefficient because almost all of the calculating the forced vibration responses of the jib
structural strength and weight is needed to support its crane structure with time-dependent overall mass and
own weight. In practice it is very complicated and subjected to an equivalent moving force. Factors as
expensive to do an experimental research on a real size speed and acceleration of the moving trolley were
mega QCC. This reason makes the investigations on studied.
mathematical models of moving load necessary,
294 VOL. 41, No 4, 2013 FME Transactions
Figure 8. Zrnics model [13,15]
Figure 9. a) Real model of the gantry crane, b) FE model of the framework, c) Moving mass, d) Dynamic interaction [16]