Damping Control of Suspended Load for Truck Cranes in Consideration of Control Input Dimension

Abstract

This article proposes a controller design that takes into account the control input dimension to be use in damping control of suspended load for crane systems. Many researches on transporting and anti-swaying control of cranes have been reported. However, most of those researches deals with overhead cranes. Only few studies deal with truck cranes since in the truck cranes, the suspended load should be controlled by using booms that have physical nonlinearity. Also, when introducing a new control system, the users would like to use the same control input dimension as the previous controller. For this purpose, a crane model is extended with a hydraulic control valve model, and a controller is designed based on this extended model. This allows to generate control inputs in the same dimension as the purchased valve controller. To show the validity of the proposed method, experiments using a truck crane has been conducted. The experimental results showed that the proposed controller has been successfully worked and the sway of the suspended load has been damped well.