It is difficult for crane operators to lift and maneuver payloads without causing significant, uncontrolled motion. Consequently, research in the area of crane operation has focused on designing controllers to minimize payload swing. However, lifting long and slender payloads (e.g., steel I-beams) from a non-level surface (e.g., like many outdoor construction sites) has not been addressed in much detail. This paper evaluates the amplitude of residual swing and robustness of two different control methodologies while hoisting a slender payload up into the air from an inclined surface. A semi-automatic approach, where the crane operator controls the lift direction and a proportional-integral-derivative (PID) controller adjusts the overhead trolley position, was developed. Experimental tests demonstrate that this method reduces the peak amplitude of residual vibration by about 80% for most non-zero incline angles.
Skip Nav Destination
ASME 2017 Dynamic Systems and Control Conference
October 11–13, 2017
Tysons, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5828-8
PROCEEDINGS PAPER
Crane Lift-Off Control of Inclined Payloads
Michael J. Toth,
Michael J. Toth
Georgia Institute of Technology, Atlanta, GA
Search for other works by this author on:
Colby F. Lewallen,
Colby F. Lewallen
Georgia Institute of Technology, Atlanta, GA
Search for other works by this author on:
Joseph C. Hanson,
Joseph C. Hanson
Georgia Institute of Technology, Atlanta, GA
Search for other works by this author on:
Shenghai Wang,
Shenghai Wang
Georgia Institute of Technology, Atlanta, GA
Search for other works by this author on:
William Singhose
William Singhose
Georgia Institute of Technology, Atlanta, GA
Search for other works by this author on:
Michael J. Toth
Georgia Institute of Technology, Atlanta, GA
Colby F. Lewallen
Georgia Institute of Technology, Atlanta, GA
Joseph C. Hanson
Georgia Institute of Technology, Atlanta, GA
Shenghai Wang
Georgia Institute of Technology, Atlanta, GA
William Singhose
Georgia Institute of Technology, Atlanta, GA
Paper No:
DSCC2017-5203, V002T23A003; 8 pages
Published Online:
November 14, 2017
Citation
Toth, MJ, Lewallen, CF, Hanson, JC, Wang, S, & Singhose, W. "Crane Lift-Off Control of Inclined Payloads." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. Tysons, Virginia, USA. October 11–13, 2017. V002T23A003. ASME. https://doi.org/10.1115/DSCC2017-5203
Download citation file:
49
Views
Related Proceedings Papers
Related Articles
Input Shaping Control of Double-Pendulum Bridge Crane Oscillations
J. Dyn. Sys., Meas., Control (May,2008)
Synthesis and Experimental Validation of a Delayed Reference Controller for Active Vibration Suppression in Mechanical Systems
J. Appl. Mech (July,2005)
Vibration Analysis and Mitigation of Dead-Zone on Systems Using Two-Impulse Zero-Vibration Input Shaping
J. Comput. Nonlinear Dynam (January,2011)
Related Chapters
Part 2, Section II—Materials and Specifications
Companion Guide to the ASME Boiler and Pressure Vessel Code, Volume 1, Fourth Edition
Subsection NCA—General Requirements for Division 1 and Division 2
Companion Guide to the ASME Boiler and Pressure Vessel Code, Volume 1, Fourth Edition
Subsection NCA—General Requirements for Division 1 and Division 2
Companion Guide to the ASME Boiler and Pressure Vessel Code, Volume 1, Third Edition