Authors: Phan Dang Phong National Research Institute of Mechanical Engineering, Do Dang Khoa, Le Quang Duong Hanoi University of Science and Technology

Published in: The 10th National Conference on Mechanics – Volume 2. Dynamics and Control

Publication date: Hanoi, December 8-9, 2017

Abstract: The Continuous Ship Unloader (CSU) is a manipulator-type dynamic system for transporting coal from ship holds to conveyor belts that deliver coal to storage yards/reserves for thermal power plants. In this paper, a dynamic model of the continuous ship unloader is constructed using the Lagrange II method based on data from the actual system of the Song Hau I thermal power project. Controlling the manipulator to extract coal within the confined space of the ship hold is implemented using a model predictive controller capable of handling joint and bucket tip position constraints combined with an extended Kalman filter. The feasibility of the proposed controller is demonstrated through numerical simulation results.

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