Control of tower cranes with double-pendulum payload dynamics

Joshua Vaughan; Dooroo Kim; William Singhose

doi:10.1109/TCST.2010.2040178

Control of tower cranes with double-pendulum payload dynamics

Joshua Vaughan, Dooroo Kim, William Singhose

Research output: Contribution to journal › Article › peer-review

190 Scopus citations

Abstract

The usefulness of cranes is limited because the payload is supported by an overhead suspension cable that allows oscillation to occur during crane motion. Under certain conditions, the payload dynamics may introduce an additional oscillatory mode that creates a double pendulum. This paper presents an analysis of this effect on tower cranes. This paper also reviews a command generation technique to suppress the oscillatory dynamics with robustness to frequency changes. Experimental results are presented to verify that the proposed method can improve the ability of crane operators to drive a double-pendulum tower crane. The performance improvements occurred during both local and teleoperated control.

Original language	English
Article number	5422812
Pages (from-to)	1345-1358
Number of pages	14
Journal	IEEE Transactions on Control Systems Technology
Volume	18
Issue number	6
DOIs	https://doi.org/10.1109/TCST.2010.2040178
State	Published - Nov 2010
Externally published	Yes

Funding

Manuscript received August 23, 2007; revised August 05, 2009. Manuscript received in final form January 04, 2010. First published March 01, 2010; current version published October 22, 2010. Recommended by Associate Editor P. Meckl. This work was supported in part by Siemens Energy and Automation, by Boeing Research and Technology, by the National Science Foundation under Award OISE-0631820, by the Japan Society for the Promotion of Science (JSPS), and by the 21st Century Center of Excellence in Robotics at the Tokyo Institute of Technology.

Funders	Funder number
Siemens Energy and Automation
National Science Foundation	OISE-0631820
National Science Foundation
Japan Society for the Promotion of Science
Tokyo Institute of Technology

Keywords

Cranes
input shaping
tower crane oscillation
vibration

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10.1109/TCST.2010.2040178

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Control of tower cranes with double-pendulum payload dynamics

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