Control of Operational Motions of a Mobile Crane under a Threat of Loss of Stability

Abstract

A mathematical model of the control system of a mobile crane is presented in the paper. The system controls the slewing motion of the chassis as well as it is applied in the model of the emergency subsystem which changes the jib reach. The latter one is initiated at the moment when the threat of loss of stability occurs. Some results of numerical analysis are presented in this paper. The results are related to different strategies of control of the slewing motion as well as to different types of controllers applied in the main loop of control and emergency subsystem. The results of experimental studies are reported as well. The experiments were performed using custom-built testing setup, which represents a kinematic model of a crane.

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

“…The numerical program, which has been developed in this work, allows analysis of load motion resulting from a crane's operating mechanism. The simulation model of a crane with the assurance of its stability was considered in Works [4][5][6][7]. Paper [4] presents a stability assessment method of a truck crane's handling system and trajectory optimization process where safety indicator values were accepted as the criterion.…”

“…Article [5] deals with the determination of a truck crane's outrigger reaction and stability factor monitoring during lift operations. In Paper [6], the mathematical model of the control system for a mobile crane was presented. Numerical analyses with multiple strategies of rotational motion control and different types of controllers were also conducted.…”

“…In Paper [11], wind power impact on a container crane located in atmospheric boundary layers was considered, where wind power was measured with the use of a seven-component balance with different wind directions. The problem of positioning, work cycle optimization, and development of monitoring systems for a carried load were presented in Papers [6,[13][14][15][16][17][18]. In the optimization process, new technological approaches were used (i.e., LiDAR scanner [13], three-dimensional (3D) visualization [15], or fuzzy-set logic models [19]).…”

Stability Assessment as a Criterion of Stabilization of the Movement Trajectory of Mobile Crane Working Elements

“…Carrying large loads with the aid of truck mobile cranes may in certain conditions lead to a stability loss [1][2][3][4][5][6][7][8][9][10]. The value of the moment required to maintain balance in relation to the tip-over axis [2,8,11,12] may constitute the measure of the risk of the crane tipping over.…”

Crane Stability Assessment Method in the Operating Cycle

“…Carrying large loads with the aid of truck mobile cranes may in certain conditions lead to a stability loss [2,[11][12][13][14][15][16][17][18][19]. The value of the moment required to maintain balance in relation to the tip-over axis [13,17,20,21] may constitute the measure of the risk of the crane tipping over.…”