Event Visualization and Trajectory Tracking of the Load Carried by Rotary Crane

Cekus, Dawid; Depta, Filip; Kubanek, Mariusz; Kuczynski, Lukasz; Kwiatoń, Paweł

doi:10.3390/s22020480

Cited by 4 publications

(2 citation statements)

References 41 publications

(51 reference statements)

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“…, что колебания подвешенного груза имеют низкую частоту, составляющую 0,3 колебаний в секунду [24][25][26]. Амплитуда колебаний гасящих импульсов (АГ), создаваемых приводом подъема-спуска, составляет АГ = 5% от длины подвеса груза.…”

Section: методы гашенияunclassified

Damping of oscillations of load lifted by handling equipment

Fedoreshchenko

2023

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This work is aimed at improving the performance of various handling equipment by optimizing the transportation cycle, e.g., decreasing the time of acceleration and deceleration by damping load oscillations, increasing the steady-state motion speed, and decreasing the time of pauses. The object of modeling is an overhead crane with a capacity of 15 ton, a stroke of 15 m, and three degrees of freedom. A Lagrange equation of the first kind as a non-linear heterogeneous system was used. A mathematical analysis of the damping process was carried out by energy balance modeling. As a result, the optimal amplitude and frequency of damping impulses required to change the suspension length within 5% were obtained. These impulses have a maximum frequency of three oscillations per second and are supplied in a reversed phase to load oscillations. According to calculations, energy costs for damping load oscillations are below 3–4% of the lifting motor power. It is shown how damping is implemented in manual control, and coefficients are calculated to define the amplitude of changes in the load and arm suspension length. The ranges of changes in these coefficients comprise 0.85–0.9 and 1.1–1.15 for setting the amplitude and frequency of damping impulses when using an automatic system. On this basis, a load oscillation damping system for a moving overhead crane is developed. Options are proposed for the damping system: by an operator or an automatic control system. The mathematical model of a crane is suitable for studying various types of equipment. Due its high efficiency and relatively low cost, the proposed method of damping is recommended when designing new equipment or improving the existing equipment.

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Section: методы гашенияunclassified

Damping of oscillations of load lifted by handling equipment

Fedoreshchenko

2023

jour

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“…To ensure the safety and efficiency of the cargo handling tasks conducted with the aid of cranes, including mobile cranes, it is possible to use various monitoring systems. These can include, but are not limited to, LIDAR scanners [ 10 , 11 ], interactive virtual reality systems for evaluating operations [ 12 ], numerical models for task visualization and trajectory tracking [ 13 ], as well as risk assessment methods for crane activities [ 14 ].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Analysis of the Positioning Accuracy in the Loading Systems of Mobile Cranes

2022

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In this work, the authors analyse the influence of the order and range of sequential movements of a crane’s working members on the accuracy of the final cargo positioning. The analysis was conducted on the basis of a specially developed method in which the authors proposed the introduction of a geometrical indicator of positioning the load in the intermediate positions (after completing each movement sequence) and in the target position, depending on the adopted control strategy and the accuracy of kinematic input of the working mechanisms (powered mechanisms). A mathematical model was presented to enable the accuracy of unidirectional positioning of the crane’s working members when conducting sequential movements controlled through the rotation of the crane column, inner and outer boom, and retractable stages of the six-section telescopic boom. Sample results of the numerical simulations showing the influence of the assumed kinematic inputs of the crane members on the accuracy of unidirectional angular and linear positioning and, consequently, on the accuracy of the final positioning of the transported cargo, were presented. Moreover, an indicator of the cargo positioning accuracy dependent on the location of an operator or a video camera and the trajectory of the cargo was developed, allowing the formulation of application conclusions.

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