Load-Sway Control for Rotary Crane Considering Torsional Deformations of Vertical Jib

Abstract

Large rotary cranes have a lattice structure tower boom which causes torsional deformation when transporting heavy loads. Therefore, it is necessary to design a controller that takes into account the torsion of the tower boom to control the load-sway and position of the jib. This study proposes a linear state-space model of rotary cranes that takes into account the torsion of the tower boom which stands vertically, and designs a controller using this model. Both simulation and experimental results are investigated to illustrate the superior performance of the controller designed in this study.