access icon free Dynamics and swing control of mobile boom cranes subject to wind disturbances

© The Institution of Engineering and Technology
Received 11/12/2012, Accepted 07/05/2013, Revised 14/03/2013, Published

Operating cranes is challenging because payloads can experience large and dangerous oscillations. The oscillations are induced by both intentional motions commanded by the human operator and by external disturbances. Although significant progress has been achieved by using command shaping to reduce operator-induced vibration, less success has been achieved on reducing oscillations induced by external disturbances, such as wind. The disturbance-rejection task is more challenging because it requires accurate sensing of the crane payload. This study presents a combined command shaping and feedback control architecture. The input shaper eliminates the payload oscillation caused by human-operator commands, and the feedback controller reduces the effect of wind gusts. Simulations of a large range of motions are used to analyse the dynamic behaviour of boom cranes using the proposed controller. Experimental results obtained from a small-scale boom crane validate the simulated dynamic behaviour and the effectiveness of the controller.

Inspec keywords: motion control; feedback; vibration control; oscillations; cranes

Other keywords: swing control; human operator command; operator induced vibration; payload oscillation; wind disturbance; feedback control architecture; intentional motion command; combined command shaping; dangerous oscillation; crane payload; mobile boom crane; wind gusts; disturbance rejection task; dynamic behaviour simulation

Subjects: Materials handling equipment; Mechanical components; Mechanical variables control; Vibrations and shock waves (mechanical engineering); Control applications to materials handling; Spatial variables control; Control technology and theory (production)

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