Cranes are vital to many manufacturing and material-handling processes. However, their physical structure leads to flexible dynamic effects that limit their usefulness. Large payload swings induced by either intentional crane motions or external disturbances decrease positioning accuracy and can create hazardous situations. Boom cranes are one of the most dynamically complicated types of cranes. Boom cranes cannot transfer the payload in a straight line by actuating only one axis of motion because they have rotational joints. This paper presents a nonlinear model of a boom crane. A large range of possible motions is analyzed to investigate the dynamic behavior of the crane when it responds to operator commands. A command-shaping control technique is implemented, and its effectiveness on this nonlinear machine is analyzed. Experimental results verify key theoretical predictions.
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e-mail: ehsan.maleki@gatech.edu
e-mail: singhose@gatech.edu
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July 2011
Research Papers
Dynamics and Control of a Small-Scale Boom Crane
Ehsan Maleki,
Ehsan Maleki
The George W. Woodruff School of Mechanical Engineering,
e-mail: ehsan.maleki@gatech.edu
Georgia Institute of Technology
, Atlanta, GA 30332
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William Singhose
William Singhose
The George W. Woodruff School of Mechanical Engineering,
e-mail: singhose@gatech.edu
Georgia Institute of Technology
, Atlanta, GA 30332
Search for other works by this author on:
Ehsan Maleki
The George W. Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332e-mail: ehsan.maleki@gatech.edu
William Singhose
The George W. Woodruff School of Mechanical Engineering,
Georgia Institute of Technology
, Atlanta, GA 30332e-mail: singhose@gatech.edu
J. Comput. Nonlinear Dynam. Jul 2011, 6(3): 031015 (8 pages)
Published Online: March 2, 2011
Article history
Received:
December 22, 2009
Revised:
December 10, 2010
Online:
March 2, 2011
Published:
March 2, 2011
Citation
Maleki, E., and Singhose, W. (March 2, 2011). "Dynamics and Control of a Small-Scale Boom Crane." ASME. J. Comput. Nonlinear Dynam. July 2011; 6(3): 031015. https://doi.org/10.1115/1.4003251
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