Dynamics and Control of a Small-Scale Boom Crane

Maleki, Ehsan; Singhose, William

doi:10.1115/1.4003251

Cited by 19 publications

(8 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Today payload swaying problems attract the great attention of such applied mathematicians and mechanical engineers as Abdel-Rahman et al [1][2][3], Adamiec-Wójcik et al [4], Al-mousa et al [5], Allan and Townsend [6], Aston [7], Betsch et al [8], Blackburn et al [9,10], Blajer et al [11][12][13][14][15][16][17], Cha et al [18], Chin et al [19], Ellermann et al [20], Erneux and Kalmár-Nagy [21,22], Ghigliazza and Holmes [23], Glossiotis and Antoniadis [24], Grigorov and Mitrev [25], Gusev and Vinogradov [26], Hong and Ngo [27], Hoon et al [28], Ibrahim [29], Jerman et al [30][31][32][33], Ju et al [34], Kłosiński [35], Krukowski et al [36,37], Lenci et al [38], Leung and Kuang [39], Loveykin et al [40], Maleki et al [41], Maczynski et al [42][43][44], Marinović et al…”

Section: Introductionmentioning

confidence: 99%

3 DOF Spherical Pendulum Oscillations with a Uniform Slewing Pivot Center and a Small Angle Assumption

Perig

Stadnik

Deriglazov

et al. 2014

Shock and Vibration

View full text Add to dashboard Cite

The present paper addresses the derivation of a 3 DOF mathematical model of a spherical pendulum attached to a crane boom tip for uniform slewing motion of the crane. The governing nonlinear DAE-based system for crane boom uniform slewing has been proposed, numerically solved, and experimentally verified. The proposed nonlinear and linearized models have been derived with an introduction of Cartesian coordinates. The linearized model with small angle assumption has an analytical solution. The relative and absolute payload trajectories have been derived. The amplitudes of load oscillations, which depend on computed initial conditions, have been estimated. The dependence of natural frequencies on the transport inertia forces and gravity forces has been computed. The conservative system, which contains first time derivatives of coordinates without oscillation damping, has been derived. The dynamic analogy between crane boom-driven payload swaying motion and Foucault’s pendulum motion has been grounded and outlined. For a small swaying angle, good agreement between theoretical and averaged experimental results was obtained.

show abstract

Section: Introductionmentioning

confidence: 99%

3 DOF Spherical Pendulum Oscillations with a Uniform Slewing Pivot Center and a Small Angle Assumption

Perig

Stadnik

Deriglazov

et al. 2014

Shock and Vibration

View full text Add to dashboard Cite

show abstract

“…The wind direction is constant in the 0 • direction relative to the mobile base, but the boom rotates relative to the wind on the slewing base. This produces the complicated oscillation during the transient stage, and induces the precession of the payload during the residual stage [25]. The results clearly show that wind disturbances make operating boom cranes much more challenging.…”

Section: Model Of a Boom Crane Subject To Wind Gustsmentioning

confidence: 96%

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

Huang

Maleki

Singhose

2013

IET Control Theory & Applications

Self Cite

View full text Add to dashboard Cite

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.

show abstract

“…Input Shaping Input shaping is a command generation method that has been used to limit motion-induced vibration in a variety of systems, including cranes [3]- [9], spacecraft and satellites [10]- [12], and robotic arms [13]- [15]. It has also been shown to be compatible with human operators [7], [16]- [18].…”

Section: Controlling Rocking With Input Shapingmentioning

confidence: 99%

Modeling and control of rocking in cable-riding systems

Vaughan

2013

2013 9th Asian Control Conference (ASCC)

View full text Add to dashboard Cite

Cable-riding suspended systems are commonplace, with applications ranging from ski lifts to tramways to material movers in mining operations. Another, more recent application is the robotic inspection of cables using robots that ride along the cables which they are inspecting. The Expliner robot is one such device. It inspects live, high-voltage power lines while moving along them. For all of these cable-suspended systems, rocking oscillation can reduce safety and efficiency of operation. This paper presents a model to identify the key dynamic factors of this rocking motion. Then, input shaping is used to limit rocking from both motion along the cable and controlled center-of-mass shifts.

show abstract

Dynamics and Control of a Small-Scale Boom Crane

Cited by 19 publications

References 22 publications

3 DOF Spherical Pendulum Oscillations with a Uniform Slewing Pivot Center and a Small Angle Assumption

3 DOF Spherical Pendulum Oscillations with a Uniform Slewing Pivot Center and a Small Angle Assumption

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

Modeling and control of rocking in cable-riding systems

Contact Info

Product

Resources

About