Open AccessDynamics and swing control of mobile boom cranes subject to wind disturbances
Author(s) -
Huang Jie,
Maleki Ehsan,
Singhose William
Publication year - 2013
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2012.0957
Subject(s) - payload (computing) , boom , control theory (sociology) , controller (irrigation) , swing , computer science , control engineering , input shaping , operator (biology) , engineering , vibration , simulation , control (management) , vibration control , artificial intelligence , physics , environmental engineering , mechanical engineering , repressor , network packet , computer network , chemistry , biology , biochemistry , quantum mechanics , transcription factor , agronomy , gene
Operating cranes is challenging because payloads can experience large and dangerous oscillations. The oscillations are induced by both intentional motions commanded by the human operator and by external disturbances. Although significant progress has been achieved by using command shaping to reduce operator‐induced vibration, less success has been achieved on reducing oscillations induced by external disturbances, such as wind. The disturbance‐rejection task is more challenging because it requires accurate sensing of the crane payload. This study presents a combined command shaping and feedback control architecture. The input shaper eliminates the payload oscillation caused by human‐operator commands, and the feedback controller reduces the effect of wind gusts. Simulations of a large range of motions are used to analyse the dynamic behaviour of boom cranes using the proposed controller. Experimental results obtained from a small‐scale boom crane validate the simulated dynamic behaviour and the effectiveness of the controller.