The Motion of Bridge Crane Mechanisms Described With the Help of Lagrange’s Equations of Second Kind

Enin, Sergei S.; Omelchenko, Evgeniy; Beliy, Alexei V.; Fomin, Nikolai V.

doi:10.18503/1995-2732-2017-15-3-68-73

Cited by 4 publications

(1 citation statement)

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“…The operating cycle time of the crane increases [6], while the safety of the moving process decreases, since the swinging payload can touch stationary or moving objects in the working space [7]. This problem is still relevant today for various types of lifting cranes, especially bridge cranes [8], wheel mounted truck cranes [9], tower cranes [10], offshore container crane [11] and boom cranes [12]. A special feature of the DEK crawler cranes is the constant length of the boom and consequently the impossibility of moving the payload suspension point in the horizontal plane [3].…”

Section: Introductionmentioning

confidence: 99%

The study of the deviations of the payload moved along the curved trajectory by the crawler crane

Корытов

Shcherbakov

Titenko

et al. 2022

J. Phys.: Conf. Ser.

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Reducing the uncontrolled deviations of the payload moved by a crawler crane with a constant boom length is a relevant objective, since it improves the operational efficiency and safety, as well as the positional accuracy of the payload at the target point. In this regard, the results of the research aimed at developing a trajectory synthesis method of two controlled coordinates of the crane, such as the swing angles of the rotary platform and boom raising which ensure a predefined trajectory of the moving payload, have been described. Furthermore, the influence of the payload movement parameters, such as the time of the prescribed payload displacement, the initial angle of the boom lift, the hoist rope length, the overall dimensions of the required payload displacement trajectory on the error of the predefined payload trajectory execution by the lifting crane has been studied. For example, we examined a predefined arc curved trajectory of the moving payload. The horizontal coordinates of the trajectory of the upper suspension point located on the boom head and providing the predefined payload trajectory were generated using the Matlab mathematical simulation model developed in the Simulink package for solving a linearized differential equation. This equation describes the deviations of a pendulum suspended payload with a horizontally moving suspension point in a separate vertically located plane of the space. The superposition of two horizontal trajectories obtained by solving the given equation ensures the payload movement along a curved trajectory predefined in the horizontal plane. The trajectory of the crane’s controlled coordinates was calculated from the horizontal coordinates of the suspension point. When executing the trajectory, the examined additional errors occur. It was revealed that when the time of moving along a predefined payload trajectory exceeds 40 seconds, the residual oscillations become insignificant and payload positional accuracy at the target point increases. It suggests the limited applicability of the developed method when implemented on the rotary lifting cranes with a constant boom length. The range of the local minima errors of the predefined trajectory implementation depending on the initial inclination angle of the boom, which varies in the average values range of the boom inclination angle, has been defined.

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Section: Introductionmentioning

confidence: 99%

The study of the deviations of the payload moved along the curved trajectory by the crawler crane

Корытов

Shcherbakov

Titenko

et al. 2022

J. Phys.: Conf. Ser.

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

Корытов

Shcherbakov

Titenko

2020

J. Phys.: Conf. Ser.

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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.

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Crane Anti-Sway Control System with Sway Angle Feedback

Enin

Omelchenko

Beliy

2018

2018 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

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The Motion of Bridge Crane Mechanisms Described With the Help of Lagrange’s Equations of Second Kind

Cited by 4 publications

References 0 publications

The study of the deviations of the payload moved along the curved trajectory by the crawler crane

The study of the deviations of the payload moved along the curved trajectory by the crawler crane

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

Crane Anti-Sway Control System with Sway Angle Feedback

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