Experimental Modelling and Control of a Tower Crane in the Frequency Domain

Čápková, Romana; Kozáková, Alena; Minár, Martin

doi:10.2478/scjme-2019-0025

Cited by 5 publications

(3 citation statements)

References 3 publications

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“…Model (1) was chosen as it well describes the physical phenomena occurring in the experimental setup (inertial, hydraulic, etc.). For example, as the motor supply voltage increases, the thrust of the propellers increases quadratically, which is the reason for the quadratic expression in the first equation (1). Unknown and requiring determination in (2) obtained in numerical form and then processed in Wolfram Mathematica.…”

Section: Resultsmentioning

confidence: 99%

“…4). The black curve in Figure 5a shows a plot of changes in the angle of rotation of the boom system obtained using model (1). The grey curve represents the values obtained during the experiment.…”

Section: Resultsmentioning

confidence: 99%

“…where I φ.RMS and I φ˙.RMS -root mean square error values for the boom position and rotation speed; II φmax and I φ˙.maxmaximum (modulo) error values for the boom position and rotation speed; φ m.i and φ e.i -i-th values of the boom position obtained based on model(1) and experimental data, respectively; φ˙m .i and φ˙e .i -i-th values of the boom rotation speed were obtained based on model (1) and based on experimental data, respectively. Criterion (2) was minimised using the Rot-Ring-PSO algorithm(Romasevych et al, 2021) to identify the parameters K 1 , M 0 , and J.…”

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confidence: 99%

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Propeller thrust tower crane slewing mechanism model identification

Romasevych,

Hubar

2023

Tehnìka ta energetika

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Any study of the dynamics and control of mechanical systems is based on adequate mathematical models that contain the dynamic parameters of the system under study. Their evaluation, in particular for the tower crane boom system, is a particularly relevant scientific and practical problem, the solution of which will provide the basis for further calculations of the optimal modes of movement of the tower crane slewing mechanism. The research aims to determine the dynamic parameters of the installation (moment of inertia of the slewing mechanism J, torque of dry friction forces M0, driving torque coefficient K1) and to plan experimental studies. The experimental method, numerical optimization methods (in particular, the modified Rot-Ring-PSO method), and statistical methods were used to conduct the research. Based on the results of the experiments, the dynamic parameters of the mathematical model of the laboratory installation of the tower crane slewing mechanism with propeller thrust were identified. The criterion that evaluates the identification error of the parameters K1, M0, and J was formed and minimized using the Rot-Ring-PSO algorithm. Plots of the kinematic characteristics of the movement of the boom system in terms of the angle of rotation of the boom and the speed of rotation of the boom were constructed. When processing the experimental data, the dependence of the error values on the supply voltage of the propeller drive was revealed. The error in the boom rotation speed at the drive supply voltage of 90% (compared to the voltage variant of 40%) decreased by almost 15%, and the error in the boom rotation angle at the drive supply voltage of 90% (compared to the supply voltage variant of 40%) decreased by almost 3 times. The regularity has been confirmed that with an increase in the supply voltage, the error value of the system decreases. In the course of processing the experimental studies, the dynamic parameters of the installation were identified: K1=4.80‧10-8 V/(rpm)2, M0=34.519 Nm, J=24.21 kgm2. The obtained results will be used to optimise the plant’s motion modes, and the developed identification algorithm can be used for other similar problems

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

mentioning

confidence: 99%

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Propeller thrust tower crane slewing mechanism model identification

Romasevych,

Hubar

2023

Tehnìka ta energetika

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The dynamic analysis of load motion during the interaction of wind pressure

2020

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This work presents the analysis of the load motion during the interaction of wind pressure. The load was treated as a rigid body, and the rope system model as a non-deformed. The influence of effective area of wind pressure on load motion was considered. The theoretical model of load motion was presented, which may be an universal approach for transporting machines equipped with a rope-lifting system. To define the orientation of the movable Cartesian coordinate system related to the load, Bryant angles were used. An algorithm and computational program were developed to allow for analysis of dynamic phenomena. The initial problem was solved with the use of the ode45 calculation procedure in the Matlab software on the basis of the Runge-Kutta 4th Order Method. The obtained results were verified with the experimental ones achieved in the wind tunnel and Tracker program. Numerical calculations using commercial software SolidWorks were also presented. In the experiment, the spatial motion of the load was analysed. Experimental tests were carried out for gust of wind and constant temperature and humidity. In addition, the paper presents the application of the proposed method for a load carried by a rotary crane. After taking into account the control functions resulting from the nature of the work of any machine, the formulated model can be a full description of the carried load motion taking into account external forces.

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Anti-sway method for reducing vibrations on a tower crane structure

Caporali¹

2021

International Journal of Nonlinear Sciences and Numerical Simulation

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We develop a solution to the problem of the behavior of a tower crane considered as a deformable system, and therefore subject to vibrations, whereas the controlled movement of a payload is implemented. The motion of the payload is calculated taking into account the normal vibration modes of the tower crane and the swaying of the payload. A “command smoothing” method relative to an open-loop system is used for reducing the sway of the payload, through smoothing the original command by the crane operator. This leads, as a consequence, to a reduction in the vibrations of the crane structure. An iterative calculation of the sway angle and the corresponding applied velocity profiles as input to the crane motors is applied. The tower crane is considered as a high nonlinear underactuated system; it is modeled considering the possible deformation of the structure. The results relating to the normal deformations of the crane are obtained, highlighting how these vibrations are strongly attenuated when an anti-sway system for the payload is implemented. Therefore, it is shown how this control leads to the best results in terms of performance for both the payload movement (shortest possible profile for the rotation movement and damping of the load oscillation) and the structure of the tower crane. Applying the method described in this paper, the structure of the tower crane does not undergo the strong horizontal and vertical oscillations that occur when the elastic structure is not considered in the crane model.

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Experimental Modelling and Control of a Tower Crane in the Frequency Domain

Cited by 5 publications

References 3 publications

Propeller thrust tower crane slewing mechanism model identification

Propeller thrust tower crane slewing mechanism model identification

The dynamic analysis of load motion during the interaction of wind pressure

Anti-sway method for reducing vibrations on a tower crane structure

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