Swing-free stop control of the slewing motion of a mobile crane

Kłosiński, J.

doi:10.1016/j.conengprac.2004.04.007

Cited by 43 publications

(24 citation statements)

References 9 publications

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“…The method allows us to transfer the cargo from one point to a selected second (target) point, with simultaneous minimizing of the swings when the working motion is finished. Control is achieved in a close-loop control system of cargo movement by controlling the transfer of the cargo attachment point (Kłosiński 2005).…”

Section: Introductionmentioning

confidence: 99%

Verhead Crane Anti-Swing System Based on the Pontryagin’s Maximum Principle

et al. 2015

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Overhead cranes are widely used at industrial enterprises for transportation of materials and products. They are successfully adaptable to technological processes used at an enterprise and their exploitation is inexpensive; in addition, the price of cranes is relatively low. However, extension of requirements set for technological processes results in shortened time for transportation and stiffened requirements for accuracy of cargo delivery and cargo safety. In the attempts to satisfy the latter requirements, particular attention is paid to swings of the cargo-holding rope. There is a number of factors that cause increased requirements for the control system of the crane drive. The slewing movement affects the total system of the crane and aggravates the crane movement control. In modern overhead cranes, the abilities and qualification of an operator (who is assisted by a certain anti-swing system) predetermine the cargo swings and the accuracy of its positioning. The said circumstance latterly caused a particular attention to computerisation of overhead crane control. However, a nonlinearity of the mechanical system of a crane and complicated control of swings often cause undesirable swings, in particular in the beginning and the end of cargo transporting process, thus reducing the efficiency of usual crane control systems. In addition, it should be taken into account that the parameters of a crane, as a controlled mechanical system, depend on the cargo and the conditions of its transportation. Consequently, a development of an effective cargo swing reduction system is a currently topical engineering problem.

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Section: Introductionmentioning

confidence: 99%

Verhead Crane Anti-Swing System Based on the Pontryagin’s Maximum Principle

et al. 2015

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“…A nonlinear mathematical model of the load sway during the slewing motion was formulated with consideration of damping, the friction in the main bearing, and the air resistance. Klosinski [11] presented a mathematical model of the control system for minimizing the payload swings, but the crane jib was considered as rigid bar.…”

Section: Introductionmentioning

confidence: 99%

Dynamic responses of hydraulic crane during luffing motion

Sun

Liu

2006

Mechanism and Machine Theory

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“…Within the simulation investigations, the mathematical model of the crane described in paper [2] was utilized. It was derived by taking into account the following assumptions:  The bodies of the chassis and the bodywork of the determined masses and inertial moments were rigid, with six degrees of freedom; moreover, mutual slewing of the bodywork in relation to the chassis possible.…”

Section: Mathematic Model Of the Mobile Cranementioning

confidence: 99%

“…Moreover, this phenomenon may also have a direct influence on the safety of operators, as well as pose a risk to objects in the surroundings of the service area a particular crane. A proper strategy for controlling a crane's work movements can lead to an essential reduction in the amplitude of payload swinging during the performance of versatile movements [2,8] and/or after their termination (Fig. 1).…”

Section: Introductionmentioning

confidence: 99%