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Unwanted residual vibration in dynamic system always causes many problems in industrial manufacturing. For instance, it is difficult for a crane to transport a heavy cargo to a specified location safely, quickly and accurately in the case of oscillation. In this paper, the crane system is simplified as a rail trolley hoisting system where the payload is a rod, and an input shaping method is investigated...
This paper deals with damping oscillations of a payload suspended to a fixed position base (e.g., a standing crane trolley). The damping is done by utilizing the Coriolis force generated by synchronizing translational and rotational motion of the payload. After revising existing approaches mainly based on approximating the payload motion by the motion of a mathematical pendulum, several nonlinear...
An adaptive fuzzy logic controller for crane positioning along five axes including the self-scaling procedure with an anti-swing regulation is proposed. A fuzzy logic observer with self-tuning universe of discourse is described and experimentally verified on laboratory gantry and tower crane hardware-in-the-loop systems. An anti-swing performance for various load masses is provided. The offered approach...
We construct two controllers for floating container cranes based on the combination of feedback linearization, sliding mode, and proportional-derivative controls. The disturbances composed of viscoelasticity of sea water, elasticity of suspended wire rope, and sea-excited motions of ship are fully considered. The controllers simultaneously conduct four duties: tracking the trolley to reference, lifting...
In this paper, is studied the behaviour of a two wired hammerhead crane while avoiding obstacle collision. Since operators must chose between to hang the load over the obstacle or to follow a trajectory to surround the obstacle, we show how this crane design reduce in both situations the oscillations of the load.
Overhead cranes are widely used in industry for lifting and moving various loads. Right before lifting a heavy load from the ground the crane bridge slightly bends, which makes the load oscillate vertically during the lifting. Vertical oscillations may introduce unnecessary stress to the crane metal structures and hoisting machinery, and thus reduce the lifetime of the crane. Furthermore, vertical...
Oscillations in the cylinder force of a boom crane effect the high-cycle fatigue of the cylinder and hence decrease the life-time of the whole crane structure resulting in higher maintenance. Thus it is desired to reduce the stress cycles in the cylinder force due to unwanted dynamics in the hydraulic driven luffing cylinder of the boom crane. To suppress the oscillations in the cylinder force due...
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