Sensor-less and time-optimal control for load-sway and boom-twist suppression using boom horizontal motion of large cranes

Abstract

Load-sway and boom-twist should both be considered in motion control given that a large crane typically has a long lattice boom. Hence, this study first analyzes the load-sway and boom-twist (vibration) of an actual crawler crane, and proposes a new dynamics model considering the above vibration. To ensure safety, sudden acceleration/deceleration is prohibited while controlling the motion of large crane. In addition, real time measurement and feedback of vibration is generally difficult. Hence, this study proposes a vibration sensor-less control based on a cycloidal motion trajectory with smooth acceleration/deceleration. Two-dimensional load-sway can be suppressed only by boom horizontal motion for simple implementation. Time optimality is also considered in the motion trajectory design in order to ensure operational efficiency. Experimental results demonstrate the effectiveness of the proposed approach.