Event Visualization and Trajectory Tracking of the Load Carried by Rotary Crane

Tracking the trajectory of the load carried by the rotary crane is an important problem that allows reducing the possibility of its damage by hitting an obstacle in its working area. On the basis of the trajectory, it is also possible to determine an appropriate control system that would allow for the safe transport of the load. This work concerns research on the load motion carried by a rotary crane. For this purpose, the laboratory crane model was designed in Solidworks software, and numerical simulations were made using the Motion module. The developed laboratory model is a scaled equivalent of the real Liebherr LTM 1020 object. The crane control included two movements: changing the inclination angle of the crane’s boom and rotation of the jib with the platform. On the basis of the developed model, a test stand was built, which allowed for the verification of numerical results. Event visualization and trajectory tracking were made using a dynamic vision sensor (DVS) and the Tracker program. Based on the obtained experimental results, the developed numerical model was verified. The proposed trajectory tracking method can be used to develop a control system to prevent collisions during the crane’s duty cycle.

Boom motion trajectory generation approach for load sway rejection in rotary cranes considering double-pendulum effect

In the control research on the rotary crane systems with double-pendulum effect, a motion trajectory with both simple structure and excellent robust performance is proposed to achieve the positioning of the boom and the suppression of the load sway. The presented trajectory consists of an anti-swing component and a boom positioning component, where the first part is used to achieve the sway angle elimination without affecting boom positioning; the second one is used to move the boom to the desired location precisely. The Lyapunov technique, LaSalle’s invariance theorem, and Barbalat’s lemma are used to prove the excellent performance of the method. Eventually, the effectiveness of the proposed method was verified through a large amount of simulation data analysis.

Impact of Wind on the Movement of the Load Carried by Rotary Crane

This paper considers the coupled kinematic and dynamic models of a mobile crane. A full description of boom and load movement has been provided as a response of the system to the influence of kinematic forces. The linear system model was treated as rigid, and the carried load as a nondeformed static body. To describe the position of said load, Bryant angles were used. The dynamic model includes the impact of external forces (wind pressure) while load carrying and positioning. Algorithm and calculation software were developed to enable dynamic phenomena analysis during both a work cycle and free movement of said load. The initial problem was solved by means of the ode45 calculation procedure in the Matlab software based on the Runge–Kutta 4th Order Method. The work presents exemplary results of load movement simulation with respect to various wind velocities, selected on the basis of guidelines from Poland’s standards regarding safe operation of mechanical equipment.