TY - JOUR
T1 - Dynamics and control of three-dimensional dual cranes transporting a bulky payload
AU - Huang, Jie
AU - Zhu, Kuo
N1 - Publisher Copyright:
© IMechE 2020.
PY - 2021/6
Y1 - 2021/6
N2 - The inevitable oscillations of the payload decrease the positioning accuracy and lessen the safety in dual cranes carrying a large payload. In the presence of the structural flexibility, the dynamics of dual cranes are governed by the payload swing, pitch, and twisting after considering three-dimensional motions. However, little research has been directed at the modeling and control of three-dimensional dual cranes. A dynamic model of three-dimensional dual cranes including the payload swing, pitch and twisting is described. Moreover, a combined modified extra-insensitive input shaper and four-pieces smoother method is proposed to control the swing, pitch, and twisting of the payload. The dynamic behavior of the nonlinear model and the effectiveness of the new control method are verified experimentally on dual cranes carrying a slender beam.
AB - The inevitable oscillations of the payload decrease the positioning accuracy and lessen the safety in dual cranes carrying a large payload. In the presence of the structural flexibility, the dynamics of dual cranes are governed by the payload swing, pitch, and twisting after considering three-dimensional motions. However, little research has been directed at the modeling and control of three-dimensional dual cranes. A dynamic model of three-dimensional dual cranes including the payload swing, pitch and twisting is described. Moreover, a combined modified extra-insensitive input shaper and four-pieces smoother method is proposed to control the swing, pitch, and twisting of the payload. The dynamic behavior of the nonlinear model and the effectiveness of the new control method are verified experimentally on dual cranes carrying a slender beam.
KW - Multiple cranes
KW - bulky load
KW - payload twisting dynamics
KW - three-dimensional motion
KW - vibration control
UR - http://www.scopus.com/inward/record.url?scp=85089780240&partnerID=8YFLogxK
U2 - 10.1177/0954406220949579
DO - 10.1177/0954406220949579
M3 - Article
AN - SCOPUS:85089780240
SN - 0954-4062
VL - 235
SP - 1956
EP - 1965
JO - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
JF - Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
IS - 11
ER -