Operator Testing on Dual-Hoist Cranes Moving Triangular Payloads

Abstract

Certain heavy-lifting applications require the coordinated movement of multiple cranes. Such tasks dramatically increase the complexity of crane operation, especially when the payload has a non-uniform shape. Therefore, controlling such a complex dynamic system requires skilled operators. However, even with extensive operator training, manipulating a crane with a large payload is difficult and presents serious safety hazards. This paper studies the dynamic behavior of a dual-hoist bridge crane moving triangular payloads. Test subjects used a wireless controller to move a dual-hoist crane with a triangular payload. They drove the payload through an obstacle course under various operating conditions. The time required to complete the course and the operator effort were recorded. Test runs were completed with and without input-shaping oscillation control. The result shows that using input-shaping oscillation control significantly reduces not only the task completion time but also the number of button pushes.

Dynamics and control of three-dimensional dual cranes transporting a bulky payload

“…Prior literatures [19][20][21] demonstrated that input shaping techniques can reduce the oscillations in dual cranes. Hence, the comparison between the MEIþFP combined filter and the previously presented input shaper method should be explored.…”

“…Simulations and experiments verified the effectiveness of the input shaper in dual cranes. [19][20][21] Nonetheless, natural frequency should be used for the design of the input shaper. Little research has been focused on the estimates of the natural frequencies in threedimensional dual cranes because of complicated dynamics.…”

Input shaping control of a three‐cable suspension manipulator

“…First studies for spatial payload positioning with a two-cable suspension manipulator have been presented in refs. [13,14]. But only translational movements of the payload achieved through synchronous motions of the actuators are considered.…”