An Antiswing Trajectory Planning Method With State Constraints for 4-DOF Tower Cranes: Design and Experiments

Abstract

As a kind of indispensable equipment widely applied in construction sites, tower crane systems have complicated nonlinear dynamical characteristics, which make controller design challenges. Apart from the primary control objective of accurate slew/translation positioning and effective swing elimination, another important task is to ensure the satisfactory state transient performance, and simultaneously, the transportation time also needs to be as short as possible. To solve the above issues, in this paper, a new time-(sub)optimal trajectory planning method is proposed, which is the first solution to generate antiswing trajectories for four-degree of freedom (DOF) tower crane systems with state constraints. In particular, three auxiliary signals are constructed, and the reference trajectories for the jib slew and trolley translation can be obtained by the elaborately designed trajectories related to auxiliary signals. Hence, based on the reference trajectories for the jib/trolley, the payload can be driven to the desired location accurately with rapid payload swing elimination; moreover, the state variables, payload displacement, and their velocities are all restricted within the specific ranges. Finally, a series of hardware experiments are implemented to verify the effectiveness of the proposed method.

Development of the optimal control system of slewing and trolley movement mechanisms of a tower crane

“…Аналіз останніх досліджень і публікацій У більшості робіт з оптимального керування рухом механізмів баштових кранів використано критерії швидкодії [1][2][3][4][5][6][7][8][9][10][11][12] та лінійно-квадратичні критерії [4,11,12]. Всі ці роботи характеризуються вимогою усунення коливань вантажу на гнучкому підвісі.…”

“…У роботі [1] модель баштового крана представлена у вигляді системи чотирьох нелінійних диференціальних рівнянь, які описують поворот башти, рух візка по стрілі та коливання вантажу на гнучкому підвісі у двох площинах (вздовж руху візка та перпендикулярно напрямку його руху). У постановці задачі використані обмеження на швидкість і прискорення візка, а також на швидкість і прискорення башти.…”

Exploring the Impact of Wind Loads on Tower Crane Operation

“…Although the number of accidents in construction has decreased recently, construction is still considered one of the most dangerous industries [7]. Tower cranes are the central component of many construction operations and are associated with a large fraction of construction deaths [8,9]. Mucenski et al analyzed 212 nonfatal injuries in the work process.…”

Multibody system dynamic analysis and payload swing control of tower crane

“…It should be noticed that in most of the previously reported researches, the vibration of the crane structure, which obviously affects the swing of the load, is not taken into consideration. 4,5,7,[15][16][17][18][19] Even various control strategies were proposed, few of them have been successfully applied in practical engineering. Two reasons can be summarized from the previous research.…”

“…It should be noticed that in most of the previously reported researches, the vibration of the crane structure, which obviously affects the swing of the load, is not taken into consideration. 4,5,7,15–19…”