Utilising virtual prototyping technology to model and control the Mobile Harbour Crane System

Utilising virtual simulation to replicate the actual performance of a mobile harbour crane (MHC) is a necessary strategy during the design phase. This method eliminates the need for the traditional trial-and-error process and can enhance the product’s quality by minimising manufacturing expenses and faults. This paper introduces an engineering model that describes the mechanical behaviour of MHC, and the control design for increasing the position accuracy. A virtual mechanical model was generated using SOLIDWORKS based on the idea of the MHC. This model was subsequently transferred to the Automatic Dynamic Analysis of Mechanical System (ADAMS) environment. The purpose of this simulation was to analyse the dynamic functioning of the MHC system. Furthermore, a MATLAB/Simulink-based adaptive sliding mode PID controller was created to effectively regulate the position of the crane trolley and mitigate the oscillation of the load’s swing angle. This co-simulation showcases the dependability of the mechanical and control features of the system that has been created.