Analysis and Experiment of Residual Load Sway Suppression in Rotary Crane Systems Using Simple Trajectory for Horizontal Boom Motion

Abstract

To suppress two-dimensional load sway caused by the horizontal boom motion of a rotary crane, both horizontal and vertical boom motions are generally used. However, it would be more energy efficient and safer if a control scheme is developed that only used horizontal boom motion, eliminating the need for any vertical boom motion. In addition, if we can suppress load sway without the need to measure it, reduction in the cost of sensors can be achieved. Furthermore, use of simple velocity trajectory patterns such as a trapezoidal velocity pattern and an S-curve acceleration/deceleration pattern, which are widely used in industrial automation systems, may provide costeffective implementation of controllers. This study examines the analytical conditions for a simple S-curve trajectory of horizontal boom motion to suppress residual load sway without sensing it. Numerical simulation and experimental results demonstrate the effectiveness of the proposed conditions.

Simple Motion Trajectory Generation for Energy Saving of Industrial Machines

“…Although it is assumed that any motion trajectory can be implemented in most existing control schemes, many industrial machines only allow the implementation of simple motion trajectories, such as trapezoidal or S-curve acceleration/deceleration trajectories (hereafter referred to as an Scurve trajectory), so as to minimize controller hardware and implementation cost. Vibration suppression using a simple motion trajectory is considered in [10]- [12].…”