Dynamics and control of crane payloads that bounce and pitch during hoisting

Jisup Yoon, William Singhose, Joshua Vaughan, Gabriel Ramirez, Michael Kim, Sujay Tawde

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The natural sway of crane payloads is detrimental to safe and efficient operation. Most crane control research has focused on oscillation induced by motion of the overhead trolley that is perpendicular to the vertical suspension cables. Little consideration has been given to bouncing oscillation in the hoist direction and pitching oscillation with respect to mass center of the payload. These dynamic effects arise in cases when the suspension cables are very long. These oscillations may interfere with the ability of the crane operators to accurately unload the payload at its desired position and orientation. This paper presents a method for generating shaped commands that suppress payload oscillations of bouncing and pitching. Theoretical models are initially used to develop and evaluate the input-shaping control algorithm. Then, experiments performed on a portable tower crane are used to demonstrate the improved response provided by the proposed approach.

Original languageEnglish
Title of host publicationASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
Pages871-880
Number of pages10
EditionPARTS A, B AND C
DOIs
StatePublished - 2009
Externally publishedYes
EventASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009 - San Diego, CA, United States
Duration: Aug 30 2009Sep 2 2009

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A, B AND C
Volume4

Conference

ConferenceASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2009
Country/TerritoryUnited States
CitySan Diego, CA
Period08/30/0909/2/09

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