Dynamics and Control of Dual-Hoist Cranes Moving Triangular Payloads

Abstract

Certain heavy-lifting applications require the coordinated movement of multiple cranes. Such tasks dramatically increase the complexity of crane operation, especially when the payload has a non-uniform shape. This paper studies the dynamic behavior of a dual-hoist bridge crane moving triangular payloads. Simulations and experiments are used to develop an understanding of the dynamic response of the system. Various inputs and system configurations are analyzed, and important response characteristics are highlighted.

Input shaping control of a three‐cable suspension manipulator

“…The natural frequencies 𝝍 and the damping ratios 𝜻 required for the design of the multi-mode input shaper (12) are determined by solving the generalised eigenvalue problem (11). To calculate the coefficient matrices 𝐌 Δ q, 𝐊 Δ q, the actual actuator coordinates 𝐩 0 , the actual load coordinates 𝐲 0 and the actual cable force coordinates 𝝀 0 of the initial equilibrium point are used.…”

“…Since multi-cable suspension manipulators have multiple dynamically coupled vibrational degrees of freedom [10][11][12], an extended input shaper, the so-called multi-mode input shaper [3], is necessary to reduce undesired sway motions. Here, the original input signals are formed with multiple sequences of impulses based on the number of modes of the system.…”

Neural network-based adaptive sliding mode control for underactuated dual overhead cranes suffering from matched and unmatched disturbances

“…Recently, the above-mentioned open and challenging problems attract mounting scholars to study DOCS. Some scholars apply open-loop control algorithms to DOCS [20][21][22][23]. [24] proposes a modified extra-insensitive input shaper to suppress the payload swing and pitch in DOCS, which is validated by simulation and experimental results.…”