of in-plane vibrations of structural system of portal crane

i.e. non-regular frame. Such routine is given here

symbolically with software Mathematica, Wolfram. Also,
nowadays, modal analysis with FEM softwares are
widely used for determination of frequencies of various
structures [12,14,15].
This paper deals with analysis of in-plane vibrations of
the structural system of portal (gantry) cranes. Solutions
are verified by the finite element model of portal crane.

2. MATHEMATICAL MODEL

As mentioned before, in open scientific literature are

revealed natural frequencies of vibrating frames that are
MATHEMATICAL MODELLING OF THE symmetric, i.e. 2 legs are assumed to be identical. For this
IN-PLANE VIBRATIONS OF PORTAL case, frequencies for 1st and 2nd mode shape (fig. 1) are
CRANES WITH FEM VERIFICATION given in [1]. This can be applied to very few examples of
portal cranes.

Vlada GAI
Aleksandar OBRADOVI
Zoran PETKOVI

Abstract: This paper deals with determination of

eigenfrequencies of portal cranes in vertical plane. The
problem is defined on simplified dynamic model as portal
frame. The individual members of frame are assumed to Fig. 1. 1st (a) and 2nd (b) mode shape of symm. frame
be governed by the transverse vibration theory of Euler-
Bernoulli beam. Exact values of eigenfrequencies are This paper deals with the determination of in-plane
determened by mathematical software. It is done FEM vibrations of the structural system of portal crane, with
verification on 2 typical types of structure of portal crane. model shown in Fig.3. As known, main structural parts of
gantry crane is main girder(s), pier leg and sheer leg.
Presented model include that legs are not identical and
Key words: portal frame, crane, in-plane vibration, FEM
that they dont stand on the same level. This last point is
not so often with portal cranes, but is included because of
creating universal character of algorithm. Presented
1. INTRODUCTION model is plane frame witch assumes that main structural
parts are uniform beams. For other types of structures it
The problem of vibrating frame structures is of can be applied with proper idealization of elements.
importance in several fields of engineering like bridge
design, structural analysis of buildings and structural
analysis of cranes. Early studies have been compiled by
Timoshenko [2]. Approximate expressions for
fundamental symmetric and antisymmetric frequencies of
symmetric portal frame can be obtained buy the Reyleigh
method [5], useful for simplifying the vibration
formulation of beams. Laura, Filipich [10] dealt with the
determination of the fundamental frequency in the case of
antisymmetric modes of a frame elastically restrained
against translation and rotation, carrying concentrated
masses. Blevins [1] presented formulas for determination
of fundamental frequencies for symmetric portal frame,
for first symmetric and first antisymmetric mode,
according to frequency equation presented with
trigonometric-hyperbolic functions (Fillipov,1970).
Furthermore, frequencies of non-regular frames were
investigated by Bolotin, Kiselev [4,6], with slope-
deflection method. But, even that process of gaining Fig. 2 Portal crane overview of type I
frequency equation was defined, finding solutions were
difficult because of its transcendental nature involving The individual members of the frame are assumed to be
trigonometric and hyperbolic functions. State-of-the-art governed by the transverse vibration theory of an Euler-
computer routines enable solution of frequency equation Bernoulli beam. Neglection of axial and shear

121
deformation and rotatory inertia effects can be done Now is going to be formulated boundary conditions for
because of known structural behaviour of portal cranes. model under study, fig.3.
Individual elements are made of same material (steel). Deflection of suspension points (pinned joints) is zero, i.e:
Z 2 (0) = 0 (6)
Z 3 ( h) = 0 (7)
Flexural moments at pinned joints are also zero:
EI 2 Z 2 ' ' (0) = 0 (8)
EI 3 Z 3 ' ' (h) = 0 (9)

Inclinations of beams at connecting points are equal

Z 2 ' ( H ) = Z1 ' (0) (10)
Z1 ' ( L) = Z 3 ' (0) (11)
as well as flexural moments
EI 2 Z 2 ' ' ( H ) = EI1 Z1 ' ' (0) (12)
EI1 Z1 ' ' ( L) = EI 3 Z 3 ' ' (0) (13)
Neglection of axial deformations of columns gives
Z1 (0) = 0 (14)
Z1 ( L) = 0 (15)

Neglection of axial deformation of main girder give

Z 2 ( H ) = Z 3 (0) (16)
Final condition includes inertia of top beam with respect
to transversal forces in columns
Fig. 3. Vibration model under study
A1L Y&&3 (0, t ) = EI 2 Y2 ' ' ' ( H , t ) + EI 3 Y3 ' ' ' (0, t ) (17)
Solving the partial differential equations for transversal
vibrations for each element When (1)-(3) are substituting in the boundary conditions
(6)-(17) one obtains a set of 12 homogeneous system of
2Yi EI i 4Yi equations with unknown quantities, Gi , Bi , Ci , Di , for
+ ( ) = 0, i = 1,2,3 .
t 2 Ai z i = 1,2,3 . It is obvious from (6,8,14) that
G1 = G2 = C2 = 0 , which returns to set of 9 equations.
it can be obtained transverse displacements of each frame
member expressed in the form Since the system is homogeneous for existence of a non-
trivial solution of determinant of coefficients must be
Y1 = Y1 ( z , t ) = Z1 ( z ) T (t ) , 0 z L (1) equal to zero. This procedure yields the frequency
equation:
Y2 = Y2 ( z , t ) = Z 2 ( z ) T (t ) , 0 z H (2)
det( F ) = 0
Y3 = Y3 ( z , t ) = Z 3 ( z ) T (t ) , 0 z h (3)
where F is presented in matrix form, table 1.
where mode shapes are presented with Krylov functions Previous algorithm include following non-dimensional
Z i ( z ) = Gi S (ki z ) + BiT (ki z ) + CiU (ki z ) + DiV (ki z ) parameters
H h I I
and time function is presented as s= , p = , = 1 , = 1
L l I2 I3
T (t ) = J cos( t ) + F sin( t ) ,
and with relations of frequency parameters of each
with circular frequency elements, from (4)
EI i A2 A
= ki 2 (4) = 4 ,=4 3
Ai A1 A1

Vibration frequency is calculated as one can obtain frequency equation in the term of
2
frequency parameter of top beam 1 = k1L , that is
1 1 EI1
f = = (5) det( F ) = f (1 , , , , , s, p) = 0
2 2 L A1 (18)

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Table 1. System of equations in matrix form

3. NUMERICAL RESULTS Table 3. Frequencies for numerical example-type I

Mode Parameter Circ. Freq. Frequency

Numerical example and solution of frequency equation
(18) is gained for 2 types of construction of portal cranes. No 1 [rad/s] [Hz]
Type I is portal crane with 1 main girder, single column 1. 1,4954 8,48 1,35
pier leg and 2 column sheer leg, fig. 2. Type II is portal 2. 3,2647 39,56 6,3
crane with 2 main girders, 2 column pier leg and 2 3. 4,986 92,94 14,8
column sheer leg, fig.4. Practically, those types are most 4. 6,3186 148,8 23,7
used types of construction of portal (gantry) cranes.
As seen, frequency equation given in this paper has non-
3.1. Numerical results for type I dimensional character and can be used for various ratios
of properties of elements of construction of portal crane.
First, solution of given equation is obtained for model of Solutions of frequency equation depend of six parameters
portal cranetype I, with properties outlined in Table 2. s, p, , , , . That is why this procedure can be very
useful for dynamic analysis of portal crane due to
Table 2. Material-section properties crane type I potential forced loads. However, design of portal crane
always relies on capacities and basic parameters like L, H
are determined with technological processes at stockyard.
No Parameter Value
Those parameters have large influence on solutions of
1. 7850 kgm 3 given frequency equation, but predetermed in initial
stages of design they have no practical significance in
2. E 2.1 1011 Pa further dynamic analysis. With mentioned mathematical
3. L 30 m support one can manipulate frequency equation for
4. H 10 m various values of parameters. Valid presentation of
frequencies for all parameters would be very complex, so
5. h 10 m
here is presented frequencies for given example of crane
6. I1 0,032558 m 4 with variation of parameters and , Table 4.
7. A1 0,07744 m 2
Table 4. Frequency variaton due to variation of members
8. 10,8 section properties
9. 100
10. 1,43 Frequency
[Hz]
11. 2,34
f1 f2 f3 f4
State-of-the-art mathematical software [17] can plot given 1 2.5 8.3 20.7 26.6
50
equation, as shown on picture below, and solve every root 10 1.3 6.4 20.4 24.2
det F 1 2.5 8.3 14.8 26.4
10 1.4 6.3 14.8 23.7
100
50 0.5 6.0 14.8 18.6
1 80 0.3 5.9 23.7 47.5
1 2 3 4 5 6 7
1 2.5 8.2 10.5 26.3
10 1.4 6.3 10.5 23.6
200
50 0.6 6.0 10.5 18.6
100 0.4 5.9 10.5 13.4
10 1.4 6.3 7.4 23.6
of frequency equation, i.e. frequency of vibration. In the 50 0.7 5.9 7.4 18.6
Table 3, it is obtained first 4 frequencies for vibration of 400
100 0.4 5.9 7.4 13.4
portal crane with properties given in Table 2. Higher 200 0.3 5.8 7.4 9.5
frequencies are usually neglected [9].

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Presented ratios of , , are based on some technical
parameters of portal cranes, with construction presented at
fig. 2. Given frequencies one can use for dynamic
analysis of crane structure, but no assumption are made
for static analysis.
3.2. Numerical results for type II
Second, solution is obtained for model of portal crane
type II, with properties outlined in Table 5. This type of
construction has wide range of usage in material handling
systems. Also, this type is common for application of
devices other then hoists, like reclaiming bucket chain
boom and reclaiming bucket wheel excavator [13,15].
4. VERIFICATION WITH FEM
Verification of obtained frequences are done with modal
analysis in with finite element software SAP 2000. There
are presented 2 models of portal cranes which correspond
to types mentioned in chapter 3. All elements are given as
uniform beams. Presented models are 3D models, but
there are only considered displacements of joints in
vertical planes.
4.1. Modal analysis-type I
Properties for type I are outlined in Table 2.

Fig. 5. FE model of portal crane-type I

Fig. 4. Portal crane overview of type II With modal analysis in FE software, are obtained values
of vibration frequencies and mode shapes. On following
Table 5. Material-section properties crane type II picture there are presented 2 main mode shapes of
vibration of structure of given portal crane.
No Parameter Value

1. 7850 kgm 3
2. E 2.1 1011 Pa
3. L 30.35 m
4. H 10 m
5. h 10 m
6. I1 2 x 0,028 m 4
7. A1 2 x 0,0588 m 2
8. 5,05
9. 18,67
10. 1,299
11. 1,68
Fig. 6. First 2 mode shapes of structure, respectively
In the Table 3, it is obtained first 3 frequencies for Table 7. gives first 4 frequencies from FEA software.
vibration of portal crane with properties given in Table 5.
Table 7. Frequencies for adopted FE model type I
Table 6. Frequencies for numerical example-type II
Mode Period Circ. Freq. Frequency
Mode Parameter Circ. Freq. Frequency No [s] [rad/s] [Hz]
No 1 [rad/s] [Hz] 1. 0,69 9,05 1,44
1 1,58 9,67 1,53 2. 0,163 38,6 6,14
2 3,41 43,2 6,87 3. 0,07 89,8 14,3
3 6,31 153,8 24,4 4. 0,047 135,5 21,56

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4.2. Modal analysis-type II 5. ANALYSIS OF RESULTS

Properties for type II are outlined in Table 5.
Fig. 5. FE model of portal crane-type II
With modal analysis in FE software, are obtained values
of vibration frequencies and mode shapes in vertical
plane. On following picture there are presented 2 main
mode shapes of vibration of structure of given portal
crane.
Fig. 6. First 2 mode shapes of structure, respectively
Table 8. gives first 2 frequencies obtained from FEA
software. Higher frequencies are not given because they
can not be compared with mathematical model since they
include shapes of element subsystems, i.e. girders as
elastic bodies dont act as single beam.
Table 8. Frequencies for adopted FE model type II
Chapter 3 gives eigenfrequencies solved mathematically
with adopted model shown at fig. 3, and for given
member properties. Eigenfrequencies are obtained for 2
types of construction. Chapter 4 gives eigenfrequencies
obtained with modal analysis in FEA software, also on 2
model types of construction that correspond to properties
of those types given in tables 2,5. Comparation of tables 3
and 6 for type I, and comparation of tables 6 and 8 for
type II, show that values are very close with relative error
less than 7,5%. Presented mathematical algorithm gives
exact values for eigenfrequencies of in-plane vibration of
portal frame. In his original form it can be applied to
stationary portal frame with hinged supports and to portal
crane with construction that include single main girder
and single girder legs. FEM models gives approximate
solutions of eigenfrequencies because of methods
numerical nature and dont have universal character. Here
is gained verification for analytically determined
vibrations for basic types of portal cranes.
6. CONCLUSION
Modern gantry cranes with respect to old dont have
significant changes in the manner of construction, but
have an array of safety systems and electrical interlocks
for all movements and operating conditions. Slewing, as
one of the main problems, is prevented by special devices
which automatically control the movement of sheer leg to
align with the pier leg. Problem of in-plane vibrations is
always present, especially for higher demands of portal
cranes like bigger span and high velocities of running
crab [16]. It is presented in this paper mathematical model
for determination of eigenfrequencies of in-plane
vibration of portal cranes, according to transverse
vibration of an Euler-Bernoulli beam. Given algorithm
can be applied to basic types of structure of portal cranes
which is shown here with comparation of results of
mathematical model with numerical values and FEM
model with adequate properties. Given frequency
equation of in-plane vibrations has universal character
and described with non-dimensional parameters, which
can particularly be used in initial phase of crane design.
This is especially needed if designers expect forced
frequency at portal crane, and can manage frequency with
changing member properties to avoid structure to enter
resonance domain. Here is given frequency variation on
numerical example of portal crane with variation of
moment of inertia of pier and sheer leg with respect to
moment of inertia of top beam. Also, there can be
obtained eigenfunctions of each member of portal frame
so one can obtain transient deflections of beam elements.
This is of high importance for involving moving load
problem at portal cranes and finding dynamic response of
those structures, due to fact that portal crane are facing
constant increasement of velocities of hoists.

Mode Period Circ. Freq. Frequency ACKNOWLEDGMENT

No [s] [rad/s] [Hz]
1. 0,605 10,37 1,65 This paper is a part of the research project 14052
2. 0,156 40,2 6,14 supported by Serbian Ministry of Science.

125
NOMENCLATURE [15] GAI, V., Analiza dinamikog ponaanja
pretovarnih mostova za ugalj u termoelektranama,
A - cross-sectional are Magistarska teza, Mainski fakultet Beograd, 2004.
E - Youngs modulus [16] ZRNI, N., Uticaj kretanja kolica na dinamiko
I - moment of inertia of cross-section ponaanje obalskih kontejnerskih dizalica, doktorska
- mass density of material disertacija, Mainski fakultet Beograd, 2005
S,T,U,V - Krylov-Duncan functions [17] Mathematica, Wolfram, www.wolfram.com
t - time
z - spatial coordinate
- frequency parametar, = k l
L - lenght of main girder
H - lenght of pier leg
h - lenght of sheer leg
Y - transversal displacement
Z(z) - mode shape
T(t) - time function
- circular frequency
f - frequency

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[1] BLEVINS, R., Formulas for natural frequency and

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and computation, , Fifth edition, Kluwer, 2004
CORRESPONDENCE
[10] FILIPICH, C.P., LAURA, P.A., In-plane vibrations
of portal frames with end supports elastically
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of Sound and Vibration, pp 467-473, 1987 University of Belgrade
[11] GAI, V., ZRNI, N., BONJAK, S., Computer Faculty of Mechanical Engineering
aided analysis of load/stress/dynamic behaviour for Kraljice Marije 16, 11000 Belgrade,
special bridge-type stacker-reclaimer, Monograph Serbia
Machine design, pp 119-126, N.Sad, 2007 vgasic@mas.bg.ac.yu
[12] GAI, V., PETKOVI, Z, BONJAK, S.,
Comparative overview of simlified dynamic and finite Aleksandar OBRADOVI, Prof. DSc.
element model of boom structure at special coal University of Belgrade
stacker-reclaimer, Journal of mechanical engineering Faculty of Mechanical Engineering
design, pp 41-46, Vol.8 No2, 2005 Kraljice Marije 16, 11000 Belgrade,
[13] GAI, V., BONJAK, S., PETKOVI, Z., ZRNI, Serbia
N. Identifikacija optereenja, proraun strukture i aobradovic@mas.bg.ac.yu
zakoavanje pretovarnih mostova sa elevatorima,
Tehnika - Mainstvo, Vol. 5, No 3, pp 129-142, 2006
Zoran PETKOVI, Prof. DSc.
[14] GAI, V., PETKOVI, Z., BONJAK, S.,
University of Belgrade
Dynamic behaviour analysis of reclaiming bucket
Faculty of Mechanical Engineering
chain boom using FEM, Proceedings of the 18th
Kraljice Marije 16, 11000 Belgrade,
International Conferece on Material Handling,
Serbia
Constructions and Logistics - MHCL06, Belgrade
zpetkovic@mas.bg.ac.yu
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