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Research Papers

Swing Dynamics and Input-Shaping Control of Human-Operated Double-Pendulum Boom Cranes

[+] Author and Article Information
Ehsan Maleki

 The George W. Woodruff School of Mechanical Engineering,  Georgia Institute of Technology, Atlanta, GA, 30332Ehsan.Maleki@gatech.edu

William Singhose

 The George W. Woodruff School of Mechanical Engineering,  Georgia Institute of Technology, Atlanta, GA, 30332Singhose@gatech.edu

J. Comput. Nonlinear Dynam 7(3), 031006 (Mar 19, 2012) (10 pages) doi:10.1115/1.4005933 History: Received October 28, 2011; Revised January 11, 2012; Published March 13, 2012; Online March 19, 2012

Boom cranes are used for numerous material-handling and manufacturing processes in factories, shipyards, and construction sites. All cranes lift their payloads by hoisting them up using overhead suspension cables. Boom cranes move payloads by slewing their base about a vertical axis, luffing their boom in and out from the base, and changing the length of the suspension cable. These motions induce payload oscillation. The problem of payload oscillation becomes more challenging when the payload exhibits double-pendulum dynamics that produce two varying frequencies of oscillation. This paper studies the swing dynamics of such cranes. It also applies input shaping to reduce the two-mode oscillatory dynamics. Experiments confirm several of the interesting dynamic effects.

Copyright © 2012 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Small-scale mobile boom crane with double-pendulum payload

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Figure 2

The input-shaping process

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Figure 3

Sketch of double-pendulum boom crane model

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Figure 4

Tangential payload oscillation (f1  = 0.42 Hz, f2  = 1.71 Hz)

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Figure 5

Tangential payload oscillation (f1  = 0.40 Hz, f2  = 0.73 Hz)

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Figure 6

Two-mode SI shaper design process

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Figure 7

Oscillation frequency versus suspension cable length and payload mass

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Figure 8

Two-mode SI shaper sensitivity curve

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Figure 9

Payload-maneuvering operation

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Figure 10

Hook oscillation resulting from operator trial 1

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Figure 11

Hook oscillation resulting from operator trial 2

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Figure 12

Level luffing with double-pendulum payload

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Figure 13

Level luffing residual vibration amplitude versus payload mass and rigging cable length (γ(0) = 35 deg, γdist  = 45 deg, mh  = 0.63 kg)

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Figure 14

Residual vibration amplitude versus slewing distance and suspension cable length (γ = 45 deg, ℓp=0.3m, mh  = 0.63 kg, mp  = 0.2 kg)

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Figure 15

Residual vibration amplitude versus payload mass and rigging cable length (γ = 45 deg, θdist  = 40 deg, ℓh=1m, mh  = 0.63 kg)

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Figure 16

Experimental residual payload displacement for 40 deg luff

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Figure 17

Residual vibration amplitude versus luffing distance (γ(0) = 35 deg, ℓh=0.8m, mh  = 0.63 kg, payload A)

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Figure 18

Residual vibration amplitude versus rigging cable length (γ(0) = 50 deg, γdist  = 20 deg, mh  = 0.63 kg, payload B)

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Figure 19

Residual vibration amplitude versus suspension cable length (γ(0) = 50 deg, γdist  = 20 deg, mh  = 0.63 kg, payload C)

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Figure 20

Residual vibration amplitude versus slewing distance (γ = 60 deg, ℓh=0.8m, mh  = 0.21 kg, payload D)

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Figure 21

Residual vibration amplitude versus rigging cable length (γ = 60 deg, θdist  = 20 deg, mh  = 0.21 kg, payload E)

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Figure 22

Residual vibration amplitude versus slewing velocity

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Figure 23

Residual vibration amplitude versus slewing acceleration

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Figure 24

Residual vibration amplitude versus slewing velocity and acceleration (γ = 45 deg, θdist  = 80 deg)

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Figure 25

Tangential payload oscillation (vmax  = 10 deg/s and amax  = 25 deg/s2 )

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Figure 26

Tangential payload oscillation (vmax  = 60 deg/s and amax  = 80 deg/s2 )

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