Experimental Analysis for Wind Induced Disturbance Rejection on Bridge Crane Structures

Abstract

This paper describes the development of a feedback controller for rejecting wind disturbances on a crane payload. The goal of this research is to perform in-situ parameter sensitivity testing that is specific to a given crane structure. Through experimentation, this paper evaluates the robustness of a closed-loop controller that implements station keeping on a bridge crane. A set of general trends were developed to describe how altering system parameters and operating conditions affected controller performance. Such findings are not limited to single parameter characterization and can be extended to multiple variables given specific system specifications.

Educational Use of a Small-Scale Cherrypicker

“…Some of the MIT students traveled to Georgia Tech at the end of the term to help present their teams' projects to the judges. One of the course projects was presented at the ASME Dynamic Systems and Control Conference [28].…”

Combined Input Shaping and Feedback Control of a Double-Pendulum System Subject to External Disturbances

“…Feedback control methods have also been well studied, and implemented to reject external disturbances [18]. These techniques can successfully reject external disturbances, but do not perform particularly well with motion-induced oscillations of the payload [19].…”