Time-Optimal Motion Generation and Load-Sway Suppression for Rotary Cranes with a Two-Stage S-Curve Trajectory Based on Skilled Operation Analysis

This paper presents an angular velocity trajectory generation method for a rotary crane boom based on the analysis of skilled operation, which is able to suppress the two-dimensional load-sway consisting of radial and tangential components in a short time by only boom horizontal rotational motion. T...

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Bibliographic Details
Published in2024 European Control Conference (ECC) pp. 2754 - 2759
Main Authors Kudara, Kazufumi, Takahashi, Hideki, Sasai, Shintaro, Sakurai, Hitoshi, Okubo, Masaki, Nakayama, Hiroki, Maedo, Teppei, Uchiyama, Naoki
Format Conference Proceeding
LanguageEnglish
Published EUCA 25.06.2024
Subjects
Angular velocity
Cranes
Dynamics
Europe
Force
Productivity
Simulation
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Summary:This paper presents an angular velocity trajectory generation method for a rotary crane boom based on the analysis of skilled operation, which is able to suppress the two-dimensional load-sway consisting of radial and tangential components in a short time by only boom horizontal rotational motion. The proposed trajectory consists of two-stage S-curve profiles for both acceleration and deceleration periods so that the natural period of the load-sway can be changed effectively to achieve the short motion time with load-sway suppression. The proposed trajectory is generated by solving the problem to find minimal motion time considering crane dynamics and constraints on load-sway and machine limitation. The motion performance by the proposed trajectory is compared with the conventional trajectory in simulation considering rope length change and boom-twist typical in a large crane. The proposed trajectory successfully suppresses the load-sway while satisfying the crane constraints in a short time.
DOI:10.23919/ECC64448.2024.10591141