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UBBER-TIRED GANTRY (RTG) CRANES the hoist motor as a container is lowered to the ground
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pollution are responsible for hundreds drive system has no means to store this
of deaths annually in this area [1]. HIGH-SPEED regenerated energy. Consequently, this
Because of the problem, these two energy is typically dissipated as heat in
portsthe busiest in the United FLYWHEELS ARE resistor banks, resulting in a reduced
Statesplan to reduce diesel emis- overall system efficiency and increased
sions by 50% over the next five years. IDEAL ENERGY fuel consumption and emissions.
Container cranes, such as the RTG This article describes the results of
crane shown in Figure 1, are major STORAGE an experimental test during which the
contributors of port-based diesel emis- DEVICES FOR USE conventional power train of an RTG
sions. These cranes employ conven- crane was converted to a hybrid version
tional power trains consisting of a WITH RTG using a pair of high-speed flywheels for
diesel engine coupled to an alternator energy storage. High-speed flywheels
that provides electrical power for a set CRANES. are ideal energy storage devices for use
of hoist, trolley, and gantry motors. with RTG cranes, as they are able to
The diesel engine prime mover allows both source and absorb large amounts
an RTG crane to be unencumbered by a utility mains con- of power at the high cycle rates demanded by the hoist
nection as it moves in the shipyard. motor. They have been used with much success in other
When a shipping container is lifted by a conventional demanding high-cycle environments when long life is
RTG crane, the diesel engine provides the energy required [2], [3]. This article will provide 1) an overview of
demanded by the hoist motor. When the container is low- an RTG crane, 2) its electrical system performance when
ered, the containers potential energy is converted by the lifting and lowering loads without flywheels, 3) an over-
hoist motor into electrical form, but the conventional view of the flywheel and its associated motor drive, and
4) the improvement in the operation of the crane when
flywheels are employed.
Mechanical
RTG cranes such as the one shown in Figure 1 are known
as one-over-four RTG cranes because they are able to raise
one shipping container above a stack of four containers
high. The crane grabs hold of a container with a device
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Hoist Motor
Operator Car
Spreader
T
T
T
Truck Target
Container
(a) (b) (c)
3
Typical crane operating scenario: (a) Target container to be acquired with spreader. (b) Trolley container to awaiting
truck. (c) Lower container onto truck and release spreader.
Crane Testing Method In practice, the target container for a given move can be
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At the beginning and end of the test, because the hoist motor drives
lifts, short-duration power fluctuations perform similarly with or without
can be observed. The fluctuations, THE the flywheels and the same human
although not desirable, are the signa- operator is used for both portions of
ture of the human operator at the con- CONVENTIONAL the test.
trols of the crane and reflect ones RTG CRANE
personal style of manipulating the joy- Lowering Event
stick controls. In addition, it is noted CANNOT STORE The conventional RTG crane has no
that the two motor drives do not supply ability to store the energy regenerated
exactly the same power. For instance, THE ENERGY when the hoist is lowered. This energy
when the load is lifted under constant is thus dissipated as heat by the resis-
power, Drive 1 supplies 59 and 131 REGENERATED tors shown in Figure 2. Figure 6 shows
kW, respectively, and Drive 2 supplies the dc bus voltage of Drive 1 and the
54 and 119 kW, respectively (Fig- WHEN THE HOIST filtered dc bus power regenerated from
ures 4 and 5). The mismatch in either both motor drives during the lowering
case is the same; specifically, Drive 1
IS LOWERED. of the empty spreader. The waveforms
supplies 10% more power than Drive 2. are similar for the case when the con-
The variance can be attributed to tainer is lowered. During the constant
motor drive controller settings and tolerances as well as power portion of the waveforms, the hoist is lowered at a
slight mismatches between the two motor windings. constant speed. To stop the descent of the hoist, the power
However, neither of the above two anomalies is a cause regeneration from the motor drives is increased, thereby
for concern during the fuel consumption and emissions extracting the kinetic energy from the spreader and the
mechanical hoisting components as can be observed during
the interval from 16 to 18.5 s. Note that while the hoist is
200
being lowered and the resistor is dissipating power, the
voltage oscillates between 730 and 750 V as the chopper
switches the resistor into and out of the circuit. In addi-
tion, the motor drive power mismatch during lowering is
150 reversed when compared with the lifting case.
Power (kW)
Total
RTG Crane Efficiency
100 The aggregate efficiency of the cranes hoist system con-
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300
200 800
Total
250 175 Voltage 700
150 600
200
Power (kW)
Power (kW)
Voltage (V)
125 500
150 Drive 1 100 400
50 200
Power, Drive 2
50
25 100
Power, Drive 1
0 0 0
0 5 10 15 20 25 0 5 10 15 20 25
Time (s) Time (s)
5 6
72
DC bus hoist motor drive power during container lift. Motor drive power and voltage during lowering of the spreader.
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states that the RTG crane hoists a 40.6-t container The one-way efficiency obtained in (5) represents an aver-
(either up or down) at a rate of 0.383 m/s. If the con- age value of the one-way lifting and lowering efficiencies
tainer is being lifted, the power, PL , supplied to the with a spreader load. It is lower than the value obtained in
combined spreader and container load is (3) because of the presence of the less efficient lowering event
in the average.
PL mgv Figure 7 presents the measured one-way efficiencies
computed using the above method for a range of hoist
50, 600 kg 3 9:81 m=s2 3 0:383 m=s loads. Each measurement point in the figure represents
190 kW, (1) the average of several measurements performed for the
respective load. The measured efficiencies range from
where m is the total load mass, g is the acceleration 73.978.7%, with a mean value of 76%. While the linear
due to gravity, and v is the hoisting speed. fit suggests a modest efficiency improvement with
After the acceleration phase is complete, loads increasing load, the measured efficiencies for container
massing more than 22 t are hoisted at a constant masses greater than 13 t lie in a narrow band that can be
speed dictated by the maximum continuous combined approximated as constant. Of chief importance is that
dc bus power (Pdc-max ) of 250 kW. (The 250-kW because of the 76% mean hoist system efficiency, nearly
continuous power limit can be observed in Figure 5 one-fourth of a given containers potential energy cannot
for the case of a 25.3-t load lift.) Therefore, the one- be recovered as it is lowered. However, despite this disad-
way efficiency (g) of the hoist system when lifting a vantage, it is shown in the following sections that the fly-
50.6-t load can be computed as wheel storage system remains capable of greatly reducing
the fuel consumption and emissions output.
PL
gone-way, lift 3 100%
Pdc-max Overview of Flywheel and Motor Drive
190 kW The flywheel energy storage unit consists of a three-phase
3 100% permanent magnet synchronous motor-generator coupled
250 kW to a steel flywheel on the same rotor. The rotor assembly is
76:0%: (2) levitated on active magnetic bearings and spins in a
vacuum to minimize losses. A three-phase inverter func-
The manufacturers data indicate that the hoist- tions as the flywheels motor drive; the drive and flywheel
ing speed for a spreader-only load is 0.866 m/s. motor are designed to transfer a maximum power of
Using (1) with a 10-t spreader load, PL is found 150 kW to and from the dc bus. Energy storage is 4.57 MJ
to be 85.0 kW. The total dc bus power required (1.27 kWh) at a maximum speed of 36,000 rev/min.
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maximum hoist load of 50.6 t as it traverses 10.6 m. When a hoist systems mean one-way efficiency was found to be
minimum operating speed of 10,000 rev/min is taken into 76%. The average one-way efficiency of the flywheel motor
account, the total usable energy storage is 8.43 MJ. and its drive is 89.5%. Using these two values, the amount
The excess energy storage was reduced by decreasing of energy that can be captured as a combined 30-t spreader
the maximum operating speed to 20,000 rev/min yielding and container load descends 10.6 m is
a usable energy storage of 2.12 MJ (0.59 kWh) for the fly-
wheel pair. This decrease is advantageous as it results in 3:12 MJ 3 0:760 3 0:895 2:12 MJ: (6)
decreased losses and simplified motor drive and magnetic
bearing control. The final maximum operating speed was Other forms of energy storage for RTG cranes such as
selected by considering the typical container mass most supercapacitors, have been reported in the literature [4].
often encountered in operation and the efficiencies of the However, compared with supercapacitors, high-speed fly-
systems involved. For instance, typical containers mass wheels can offer higher efficiency, higher cycle life without
15 t, and relatively few mass more than 20 t. Thus the degradation, reduced ambient temperature concerns, and
ability to capture the energy regenerated from lowering a increased reliability owing to the absence of the hundreds
20-t container is a desirable goal. of series connections in supercapacitor banks [5].
When lowered 10.6 m, a 20-t container (30 t including
spreader) releases 3.12 MJ, which is more than the capacity Crane Operation with Flywheels
of the flywheel pair. However, when the efficiency of the
energy flow path from the container to the flywheel mass is Initialization
included, the storage capacity is sufficient. For example, the When an RTG crane is turned on at the beginning of a
work shift, the diesel engine is started and allowed to
warm up. The alternator is then connected to the hoist
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8
Flywheel unit with rotor superimposed.
10
Controlled Two flywheel units arranged in a single package.
Resistor
dc
Bus
Rectifier Inverter
Flywheel and
Flywheel
Motor Drive
Inverter
9 11
74
Flywheel interface to an individual dc bus. Flywheels installed on RTG crane.
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motor drives and the dc buses are ener- During a lift, the flywheel control-
gized. If the speed of an individual fly- ler measures the engine power at the
wheel is below 10,000 rev/min, the THE ABILITY TO dc bus and is programmed to limit the
respective unit is motored to this engine power to 50 kW by supplying
minimum operating limit where it CAPTURE THE the power difference required by the
remains until the first lowering event. ENERGY hoist while it is accelerating. In this
If the speed of a flywheel is otherwise manner, the peak power demand on
above 10,000 rev/min, it is allowed to REGENERATED the diesel engine is reduced, which in
coast at its present speed until the first turn reduces the engine wear, fuel con-
lowering event described below. FROM LOWERING sumption, and emissions output. After
the power peak, the hoist is lifted at a
Lowering Event A 20-T constant speed. The flywheel control-
When not in service, the spreader is ler then gently reduces the maximum
stowed at the maximum lift height. CONTAINER IS A flywheel output power to 60 kW per
Thus, the first hoist operation per- flywheel unit (120 kW per flywheel
formed by a crane operator is a lower-
DESIRABLE GOAL. pair), allowing the engine to ramp up
ing event of the empty spreader. As in power gradually and thus avoid
the hoist is lowered, the resultant heavy particulate emissions.
voltage rise at each dc bus is used by the respective fly- As the flywheels approach a fully discharged state of
wheel controllers to compute an appropriate power 10,000 rev/min, the remaining hoist power demand is
command for the flywheel motor drives to capture the transitioned to the engine gradually (Figure 13). Because
regenerated energy. of the power mismatch between the hoist motor drives,
Figure 12 shows the total power regenerated by the
hoist motor drives to the dc bus when the 15.3-t container
is lowered; the regenerated power during the lowering of
the empty spreader was shown in Figure 6. The speed of
each flywheel increases during this time, as the potential 300
and kinetic energy of the load are absorbed. The mismatch Hoist
in flywheel speeds reflects the power mismatch of the hoist 250
motor drives and is of no concern during operation. If the
Power (kW)
200
container is more massive than 20 t, the flywheels will be
fully charged to 20,000 rev/min before the hoist descent is
200 20 20
180 19
Speed (Thousands, rev/min)
18
Speed (Thousands, rev/min)
160 18
Power
140 17
16
Power (kW)
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to the flywheel energy
storage system are ex-
76.0% From Container 100% pected to yield further
improvements.
Conclusions
The flywheel system has
dc Bus Hoist
shown through experi-
68.0 %
same instant. Therefore, the power transition can occur in elevated power levels for a limited time until the service
two steps as each flywheel is discharged. can be completed.
Figure 15 illustrates the percentage of a containers
potential energy that can be captured by the flywheels References
during a lowering event and then returned to the con- [1] J. Wilson, Long beach ports produce plan to reduce diesel emissions,
LA Times, B.1, Jun. 29, 2006.
tainer during a subsequent lifting event. As the figure [2] M. M. Flynn, J. J. Zierer, and R. C. Thompson, Performance testing
shows, theoretically more than 46% of a containers poten- of a vehicular flywheel energy system, SAE 2005 Trans. J. Passenger
tial energy can be reused; however, in practice, diesel sav- CarsMech. Syst., vol. 114, pp. 119126, Feb. 2006.
ings are somewhat lower because of additional system [3] G. Reiner, Current state in the application of magnetodynamic (fly-
losses. For example, some activities, such as gantry and wheel) storage systems in urban transport buses, presented at the Fly-
wheel Storage Technology Workshop, Oak Ridge, TN, 1995.
trolley events and, most importantly, intervals when the [4] S. Kim and S. Sul, Control of rubber tyred gantry crane with energy
engine is idling but the hoist is not in use, consume diesel storage based on supercapacitor bank, IEEE Trans. Power Electron.,
fuel but do not provide significant opportunities for vol. 21, no. 5, pp. 14201427, Sept. 2006.
energy regeneration. Power consumed by auxiliary systems [5] S. R. Holm, H. Polinder, J. A. Ferreira, P. van Gelder, and R. Dill,
A comparison of energy storage technologies as energy buffer in
such as air conditioning and lighting also increases fuel renewable energy sources with respect to power capability, in Proc.
usage without the prospect of energy recovery. IEEE Young Researchers Symp. Electrical Power Engineering, Leuven, Bel-
gium, 2002. [CD-ROM].
Testing Results Summary
Table 2 summarizes the fuel and emissions results during
the one-hour testing for the cases with and without the Mark M. Flynn (mm_ flynn@mail.utexas.edu) is with the
flywheel energy storage. Significant improvements were Center for Electromechanics, University of Texas, in Austin.
made in all quantities measured. Although the nearly Patrick McMullen and Octavio Solis are with VYCON, Inc.,
21% fuel consumption reduction is excellent, it is lower Yorba Linda, California. This article first appeared as
than the theoretical maximum as expected, which is High-Speed Flywheel and Motor Drive Operation for Energy
largely because the engine was idling for 50% of Recovery in a Mobile Gantry Crane at the 2007 IEEE
the time during the one-hour test. Future enhancements Applied Power Electronics Conference.
76
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