The large-amplitude and lightly-damped oscillation of crane payloads is detrimental to safe and efficient operation. The problem is further complicated when the payload creates a double-pendulum effect. Previous researches have shown that single-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on previous developments by thoroughly describing the double-pendulum dynamic effects as a function of payload parameters and the crane configuration. Furthermore, an input-shaping control method is developed to suppress double-pendulum oscillations created by a payload with distributed-mass properties. Experiments performed on a 10-ton industrial bridge crane verify the effectiveness of the method. A critical aspect of the testing was human operator studies, wherein numerous operators utilized the input-shaping controller to perform manipulation tasks. The performance improvements provided by the input-shaping controller, as well as operator learning effects, are reported.
Dynamics and Control of Bridge Cranes Transporting Distributed-Mass Payloads
- Views Icon Views
- Share Icon Share
- Search Site
Manning, R., Clement, J., Kim, D., and Singhose, W. (December 18, 2009). "Dynamics and Control of Bridge Cranes Transporting Distributed-Mass Payloads." ASME. J. Dyn. Sys., Meas., Control. January 2010; 132(1): 014505. https://doi.org/10.1115/1.4000657
Download citation file: