Abstract
Rotary cranes are widely used in construction operations to load and unload materials in field. However, the efficiency of the loading operation could be limited due to the crane’s slewing rotational motion that generates undesirable load sway. Various attempts of anti-sway control have been proposed for cranes however few attempts focused on the telescopic rotary crane. This paper presents load tracking and anti-sway control method that can be used to suppress the undesirable load sway during telescopic rotary crane operation. The proposed method is based on a dynamic model that has been developed to predict the sway angles, load trajectory s-curves, load cubic path trajectory, load quantic path trajectory and load zero jerk trajectory for telescopic rotary crane [1]. The operating parameters for the proposed method are obtained experimentally using scaled telescopic rotary crane prototype that is built up in lab. The results show the effectiveness of the proposed control method to achieve load tracking and anti-sway control for real time operation.
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