Radial-motion assisted command shapers for nonlinear tower crane rotational slewing

• Published in: Control engineering practice Vol. 18; no. 5; pp. 523 - 531
• Main Authors: Blackburn, David, Lawrence, Jason, Danielson, Jon, Singhose, William, Kamoi, Tatsuaki, Taura, Ayako
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.05.2010; Elsevier
• Subjects: Applied sciences; Crane; Cranes; Exact sciences and technology; Fundamental areas of phenomenology (including applications); Hoisting and lifting gears; Input shaping; Material handling, hoisting. Storage. Packaging; Nonlinear dynamics; Nonlinearity; Physics; Rotational; Rotational dynamics; Slewing; Solid mechanics; Structural and continuum mechanics; Tower cranes; Vibration; Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...); Vibrations; Input shaping; Vibrations; Nonlinear dynamics; Rotational dynamics; Crane; Tower crane; Bridge crane; Vibration; Equation of motion; Gantry crane; Experimental study; Modeling; Cantilever beam; Rotating system; Radial motion; Active system; Vibration control; Non linear effect; High rise building; Rotating beam(mechanics)
• ISSN: 0967-0661; 1873-6939
• DOI: 10.1016/j.conengprac.2010.01.014

Input shaping is an effective method for reducing motion-induced vibration. The majority of input-shaping theory is based on linear analysis; however, input shaping has proven effective on moderately nonlinear systems. This work investigates the effect of nonlinear crane dynamics on the performance of input shaping. Typical bridge cranes are driven using Cartesian motions and behave nearly linearly. The rotational structure of a tower crane makes nonlinearities more apparent. Nonlinear equations of motion are presented and experimentally verified. Novel command-shaping algorithms are then proposed for reducing vibration during the nonlinear slewing motions of tower cranes.