aapa crane and terminal workshop - · pdf fileaapa crane and terminal workshop november 6,...
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AAPA Crane and Terminal WorkshopNovember 6, 2001 – Oakland, CA
Larry Wright & Bob SlaterMechanical EngineersMcKay International Engineers
Mechanical / Electrical
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Mechanical / Electrical Topics• Trolley Types• Primary Systems• Drives and Controls• Power Supply• Safety Features• Productivity
Enhancements• Design & Manufacturing• Component Suppliers
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Trolley Types• Fleet Thru – Rope Towed – Catenary Support Trolleys• Fleet Thru – Rope Towed – Continuous Catenary Support• Fleet Thru – Self Powered• Machinery On Trolley• Rope Towed
Machinery On Trolley
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Fleet Thru Rope Towed with Catenary Trolleys
• Catenary trolleys necessary for long spans• Provides intermediate festoon support
• Additional sheaves, reeving, tensioners, and trolley machinery
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Fleet Thru Rope Towed with Catenary Trolleys
TRIM, LIST, SKEW,AND SNAG SHEAVES
• Main Hoist Reeving
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Fleet Thru Rope Towed with Catenary Trolleys • Trolley Reeving
TENSIONERSHEAVES
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Fleet Thru Rope Towed with Catenary Trolleys • Catenary Support Trolley Reeving
LANDSIDE CAT. TROLLEY
MAIN TROLLEY
WATERSIDECAT. TROLLEY
TENSIONERSHEAVES
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Fleet Thru Rope Towed with Continuous Support
• No catenary trolleys or reeving• Smaller catenaries = more control• More sheaves = heavier trolley &
larger trolley motor
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Fleet Thru Rope Towed with Continuous SupportSNAG, TRIM, LIST,
AND SKEW SHEAVES
TENSIONER SHEAVES
ROPESUPPORTS
Hoist Reeving Trolley Reeving
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Fleet Thru Rope Towed with Continuous Support
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Trolley Types Fleet Thru Self Powered
• Simple reeving• No trolley tow ropes or tensioner• Possibility of wheel slip• Slower acceleration rates
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Machinery On Trolley • Least amount of reeving• Heaviest trolley• Possibility of wheel slip• Slower acceleration rates• Small machinery room• Design for maintenance
access is important
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Rope Towed Machinery On Trolley • Simple reeving• No concern of wheel slip• Full acceleration rates• Requires trolley tow ropes
and tensioner• Design for maintenance
access is important
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Machinery Area Comparison
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Trolley Type Comparison MatrixFleet Thru
Rope Towed Continuous
Fleet Thru Rope Towed Cat. Trolleys
Fleet Thru Self Powered
Machinery On Trolley
Rope Towed Machinery On Trolley
Trolley Weight Moderate Lowest Moderate Highest High
Trolley Motors 1 1 2-4 2-4 1
Trolley Motor Power Moderate Moderate Moderate Highest High
Trolley Acceleration High High Lowest(Wheel Slip)
Moderate (Wheel Slip) High
Trolley Tow Ropes, Tensioner, Sheaves Yes Yes No No Yes
Catenary Tow Rope, Tensioner, Sheaves No Yes No No No
Hoist Rope Length Long Long Long Short Short
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Trolley Type Comparison MatrixFleet Thru
Rope TowedContinuous
Fleet Thru Rope Towed Cat. Trolleys
Fleet Thru Self Powered
Machinery On Trolley
Rope Towed Machinery On Trolley
Approximate Number Of Hoist Sheaves 40 20 20 12 12
Hoist Rope Catenary Support Rollers Yes Yes Yes No No
Crane Weight Moderate Moderate Moderate High High
Trolley Wheel And Rail Wear Moderate Moderate High Highest Above
Moderate
Hoist Machinery Access Good Good Good Limited Limited
Trolley Drive Machinery Access Good Good Limited Limited Good
Trolley Festoon Light Light Moderate Heaviest Heavy
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Primary Systems• Reeving
– Drums– Sheaves– Ropes
• Machinery– Gearing– Couplings– Brakes
• Hydraulics– Snag– Trim / List / Skew– Tensioner
• Gantry Drives– Enclosed Gearing– Brakes
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Reeving• Cost of rope change• Rope life extension• Drum & sheave damage• Groove hardness• Tensioner
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Machinery• Simplicity• Reliability• Ease of maintenance
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Gantry Drives and Brakes• Elimination of
open gearing• Shaft mounted reducers• Piloted motor mounting
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Drives and Controls• AC vs DC comparison• Distributed I/O• Spreader communications• Crane monitoring systems• Remote troubleshooting
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AC vs DC Comparison FEATURE AC SYSTEM DC SYSTEM
Drive System Physical Size Requires More Space
• Requires Less Space• Additional Space Needed for Compensation and Filtering
Drive System Weight Heavier
• Lighter• Additional Weight for Compensation and Filtering
Typical Cost
• Higher than DC without Filtering and Compensation
• About Same as DC with Filtering and Compensation
• Lower Than AC if No Filtering And Compensation
• About Same as AC if Filtering And Compensation
Cost Distribution
• Motors 1/3 to 1/2• Inverters 2/3 to 1/2
• Motors 2/3 to 1/2• Converters 1/3 to 1/2
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FEATURE AC SYSTEM DC SYSTEM
Power Factor• 0.93 to 0.95 Constant• Independent of Motor Speed
• 0.1 to 0.8 Variable• Proportional to Motor Speed
Reactive Power Consumption
• Low• No Compensation Required
• High• Compensation May Be Necessary Depending on Utility Penalty
Short Time Overload Capacity
• 6 to 140 kVA – 160% Average• 215 to 3450 kVA – 135% Avg.• Usually Requires Thermal Oversizing
• Usually 200%• Thermal Sizing Usually Sufficient
Rating Selection
• Selected According to Maximum Torque / Current Requirement
• Thermally Oversized
Selected According to Thermal Requirement
AC vs DC Comparison
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FEATURE AC SYSTEM DC SYSTEMTotal Power Loss Similar to DC System Similar to AC System
Typical Power Loss Distribution
• Motor 1/3 in M-House• Converter 2/3 in E-House• More E-House Cooling Req’d
• Motor 2/3 in M-House• Converter 1/3 in E-House• Less E-House Cooling Req’d
Motor Cabling• Screened Cables Required• Length Restrictions• Difficulties for Festoon Cabling
Normal Cables Sufficient
Motors General
Motor is “Short and High” (Constant Speed)
Motor is “Long and Low” (Variable Speed)
AC vs DC Comparison
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FEATURE AC SYSTEM DC SYSTEM
Hoist Motor Inertia
• Higher than DC• LessDynamicPerformance• Same Performance Needs More Power
• Risk of Vicious Cycle
• Lower than AC• More Dynamic Performance
Hoist Motor Nominal Torque
• Base Speed – 100%• Field Weakened Speed – 50%
• Base Speed – 100%• Field Weakened Speed – 50%
Hoist Motor Max. Torque
• Base Speed – 200%• Field Weakened Speed – 50%
• Base Speed – 200%• Field WeakenedSpeed–100%
AC vs DC Comparison
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AC Summary • Lower motor maintenance• Higher rotational inertia• Improved inherent power quality• Larger panels and heat
dissipation required
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DC Summary • Higher motor maintenance• Requires equipment for power quality and harmonics• Traditional hoist performance
0%0%
50%
50%
100%
100%
150%
150%
200%
200%
250%
250%
Speed
Torque
DC - Overload
AC - OverloadNominal load
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Distributed I/O • Large amount of information on crane• Too many signals for discrete wiring• Distributed I/O nodes networked together
– Reduces wiring– Speeds troubleshooting
• Signals from:– Limit switches– Push buttons– Pressure switches– Photocells– Etc…
• Industry standard protocols
• Signals to:– Indicating lights– Digital displays– Solenoids– Relays– Etc…
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Spreader Communications
0
10
20
30
40
50
86 88 90 92 94 96 98 2000 Year
Num
ber o
f Wire
s
• Increasing amount of I/O necessary for modern spreaders• Features such as:
– Twin twenty operation– Twin twenty detection– Automatic telescoping– Separating twins– Fall arrest
All require additional I/O• Reaching the maximum
capacity of existing cables
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Spreader Communications • Two standard copper wires to transmit I/O data• Smaller cable = smaller cable reel• Bus topology allows for extensive troubleshooting data
BUS
CRANE CONTROL SYSTEM
CRANE NODE TWO WIRES INSPREADER CABLE
SPREADERNODE(S)
DISCRETE WIRING OR BUSTO DEVICES ON SPREADER / HEADBLOCK
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Drives and Controls • Crane Monitoring Systems• Remote (Off-Site)
Troubleshooting
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Crane Power Supply OptionsCable Reel Conductor Bars Diesel
Power Cable Collector Fuel
Communications With Terminal
Fiber Optics / Radio
Radio / Wave Guide Radio
Initial Cost of Crane Moderate Low High
Initial Cost of Wharf Low Moderate None
Operating Costs Low Low Very High
Potential Problems Cable Damage & Replacement Cost
Safety & Conductor
Maintenance
Maintenance & Pollution
Supply Voltage 5 to 15 kV 5 to 15 kV < 600 V
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Operating and Safety Features• Snag device• Fail safe design philosophy• Verification of redundant systems• Operation and maintenance safety• Additional operating
and safety features
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Snag Device• Hydraulic• Powered reset• Flow rate must accommodate
main hoist speed• Cylinder stroke sized to absorb
kinetic energy of rotating equipment
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Snag Device
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Fail Safe Design Philosophy• Safety systems and components are single failure proof
– Components must fail to a safe state– Redundant systems used where can not fail to safe state– Redundant high speed braking on main hoist motors– Redundant braking on main hoist and boom hoist drums
• Systems and devices must not change state during power up
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Verification of Redundant Systems• Brake Torque• Snag Relief Valves• Self Diagnostics
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Operation & Maintenance Safety• Lock-Out / Tag-Out• Hazard signs• Means to check redundant systems• Maintenance mode• Safe access for maintenance
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Additional Operating & Safety Features• Hoist “two blocking” crumple zone• Operator seatbelts• Self rescuing elevator• Two means of exit from
enclosed spaces• Stairs vs ladders for access• Boom hoist redundant brake• Main hoist redundant braking
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Productivity Enhancements
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Productivity Enhancements • Crane to Crane Coordination and
Collision Avoidance
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Productivity Enhancements • Twin Twenty / Twin Forty Spreaders
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Productivity Enhancements • CCTV Displays for Operator• Chassis Positioning Systems
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Productivity Enhancements • Stowage Plan
Systems• Container
Recognition Systems
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Specifications & Standards• Standard specifications cover standard cranes,
not container cranes• Container cranes are unique for many reasons
– Eccentric loads– High speeds– Heavy duty cycles– Very high reliability requirements
• Standards and specifications must be interpreted by experienced engineers
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Specifications & Standards
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Specifications & Standards
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Design & Manufacturing• Goals:
– High reliability – Low maintenance cost – Lowest total acquisition cost
• Total acquisition cost:– Purchase price– Design and manufacturing review costs to get high
reliability and low maintenance
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Design & ManufacturingGood Design: • Requires design experience• Meets crane codes worldwide• Provides crane reliability • Minimizes maintenance
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Design & Manufacturing• Low price is associated with:
– Poor design– Inferior components– Low reliability– High maintenance
• High price is associated with:– Good design – Superior components – High reliability– Low maintenance
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Summary• Crane systems and components are being refined to:
– Improve performance and productivity– Improve reliability– Improve maintainability
• Be sure to specify what you want in a crane:– Size and speeds– Systems and components– Safety and maintenance requirements
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End of Mechanical / Electrical Presentation• Comments• Questions
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Copyright 2001 by Liftech Consultants Inc. All rights reserved.This material may not be duplicated without the written consent of Liftech Consultants Inc., except in the form of excerpts or quotations for the purposes of review.
The information included in this presentation may not be altered, copied, or used for any other project without written authorization from Liftech Consultants Inc. Anyone making use of the information assumes all liability arising from such use. g