Maximally Robust Sway Free Point-to-Point Transportation of Boom Crane Loads by a FIR Filtering Approach of the Motion Commands

Abstract

A new method for sway suppression of boom crane loads is implemented, which is based on the application of appropriate filters on the motion commands. A typical boom crane mechanism is considered, which accomplishes independently the luffing and hoisting motions, needed for load grabbing, transfer and final positioning. The resulting dynamic model of the crane mechanism leads to a strongly non-linear and time varying problem. Property designed Finite Impulse Response (FIR) filters are then applied to the typical motion commands of the system. The resulting filtered motion commands are shown to effectively suppress the payload sway during and after the motion of the mechanism, leading to a minimization of the operating cycle of the crane. Additionally, due to the smooth nature of the resulting motion, decreased stresses result on the crane structure and the motion components, and thus, the life cycle of the equipment can be extended.