Effect of the payload mass on forces acting from the overhead crane drives during movement in the mode of suppressing uncontrolled oscillations

Abstract

Using two-point Hermite splines, the reference spatial trajectory of a payload on a non-rigid pendulum suspension of an overhead crane was set as a combination of plane controlled oscillations in two mutually perpendicular movement directions of the bridge and the trolley. Under the absent uncontrolled payload oscillations, payload, suspension point coordinates and the rope deviation angles were calculated. Using the example of a constant spatial trajectory of the payload bypassing a single obstacle in the absence of uncontrolled oscillations, the payload mass effect on the forces acting from the side of the bridge drives and the trolley was investigated. The time dependences for horizontal components of the drive side forces were determined using an overhead crane simulation model developed in the Simscape Multibody Matlab application. Payload of various masses was repeatedly moved along the reference constant trajectory by rigidly setting the bridge and trolley movement trajectories. By virtual sensors, the forces acting from the drives on the bridge and trolley were evaluated. The payload mass effect on the maximum values of drive forces is established to be linear. The results can be used in the design and development of intelligent mechatronic control systems for overhead and gantry cranes.