Reduction of Transient Payload Swing in a Harmonically Excited Boom Crane by Shaping Luff Commands
2017 ◽
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The control of boom cranes is a topic that has generated a significant amount of research. Particularly, cranes mounted on ocean-going ships pose a significant challenge. Due to the harmonic disturbance resulting from ocean conditions, open-loop control methods such as input shaping have been largely ignored in this area of research. This work will develop linearized governing equations for a planar, harmonically-excited boom crane. Using these approximations, a command-shaping strategy that minimizes payload deflection during and shortly after a luff command will be presented. It is anticipated that this method will be used to smooth the transition to a closed-loop controller which engages after the operator-given command is complete.
2015 ◽
Vol 4
(11)
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pp. 582-585
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2013 ◽
Vol 31
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pp. 265-273
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2010 ◽
Vol 2010
(0)
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pp. _727-1_-_727-6_
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2009 ◽
Vol 3
(5)
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pp. 1031-1038
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