期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 18, 期 6, 页码 1345-1358出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2010.2040178
关键词
Cranes; input shaping; tower crane oscillation; vibration
资金
- Siemens Energy and Automation
- Boeing Research and Technology
- National Science Foundation [OISE-0631820]
- Japan Society for the Promotion of Science (JSPS)
- Center of Excellence in Robotics at the Tokyo Institute of Technology
The usefulness of cranes is limited because the payload is supported by an overhead suspension cable that allows oscillation to occur during crane motion. Under certain conditions, the payload dynamics may introduce an additional oscillatory mode that creates a double pendulum. This paper presents an analysis of this effect on tower cranes. This paper also reviews a command generation technique to suppress the oscillatory dynamics with robustness to frequency changes. Experimental results are presented to verify that the proposed method can improve the ability of crane operators to drive a double-pendulum tower crane. The performance improvements occurred during both local and teleoperated control.
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