Dynamic modeling and oscillation control of industrial cranes transporting upright slender flexible payloads

Industrial cranes transporting slender payloads in an upright position have been used in several applications. However, the swing of the cable-suspended object may interact with the bending vibrations of the slender payload during motions. The interaction-induced vibrations exhibit complicated dynamical behavior and corrupt the safety and efficiency of the material movement. While significant work has been focused on industrial cranes carrying rigid payloads, little effort has been directed at the payload swing-bending interaction in cable-suspended flexible objects. A dynamic model of industrial cranes carrying upright slender and flexible payloads has been derived. The interaction between the payload swing and payload bending vibrations has been captured in the model. Additionally, a new control method has been developed to suppress the coupled vibrations caused by the payload swing-bending interaction. Theoretical and experimental investigations demonstrate that both the modeling and control methods are effective.