An investigation of slewing-crane dynamics during slewing motion—development and verification of a mathematical model

Information about the dynamic loading of a steel structure is important for its static design as well as for an assessment of its fatigue life. In the case of tower cranes, these loads are mainly caused by vibrations and load sway, which occurs as a result of the slewing motion of the jib around the vertical axis and from the radial movement of the load's suspension point. In this paper, only the slewing motion that produces the spatial motion of the pendulum is considered, because this kind of motion has received much less attention than the translation of the suspension point. In order to achieve this, a non-linear mathematical model of the load sway during the slewing motion was formulated, and the non-linear nature of the swinging motion for large angles and the non-linearity of the power transmission were considered. The structure's elasticity and damping, the friction in the main bearing, and the air resistance were also taken into account. The dynamic forces acting on the steel structure of the crane during payload transport were obtained. In order to confirm the mathematical model, an actual model of a crane was built and used as the basis for measurements. A comparison of the results shows good agreement between the predicted and the measured values.

[1]  Yoshiyuki Sakawa,et al.  Modelling and control of a rotary crane with a flexible joint , 1989 .

[2]  M. Uesugi,et al.  Automatic Control of an Overhead Crane , 1981 .

[3]  Hugh F. Durrant-Whyte,et al.  Control of Load Sway in Enhanced Container Handling Cranes , 1997, ISER.

[4]  Kamal A. F. Moustafa,et al.  Nonlinear Modeling and Control of Overhead Crane Load Sway , 1988 .

[5]  Zygmunt Towarek,et al.  The dynamic stability of a crane standing on soil during the rotation of the boom , 1998 .

[6]  Ahmed Z. Al-Garni,et al.  Optimal control of overhead cranes , 1995 .

[7]  Yoshiyuki Sakawa,et al.  Modelling and control of a flexible rotary crane , 1988 .

[8]  A. H. Nayfeh,et al.  Pendulation Reduction in Boom Cranes Using Cable Length Manipulation , 2002 .

[9]  C. Tarin,et al.  Anti-sway control for boom cranes , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[10]  M. Acar,et al.  Mechatronics : the basis for new industrial development , 1994 .

[11]  K. H. Low,et al.  Motion analysis of a suspended mass attached to a crane , 1994 .

[12]  David R. Strip.  Swing-free transport of suspended objects: a general treatment , 1989, IEEE Trans. Robotics Autom..

[13]  Philip Holmes,et al.  On the dynamics of cranes, or spherical pendula with moving supports , 2002 .

[14]  Tetsuhiko Yamamoto,et al.  Jib crane control to suppress load swing , 1989 .

[15]  Hugh F. Durrant-Whyte,et al.  INS-based identification of quay-crane spreader yaw , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[16]  Matthew P. Cartmell,et al.  Controlling the nonlinear dynamics of gantry cranes , 1996 .

[17]  Kamal A. F. Moustafa,et al.  Feedback control of overhead cranes swing with variable rope length , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[18]  Y. Suzuki,et al.  Anti-swing control of the container crane by fuzzy control , 1993, Proceedings of IECON '93 - 19th Annual Conference of IEEE Industrial Electronics.

[19]  A. G. Razdol'skii.  Motion of a hoisting machine , 1989 .

[20]  Osmo Voutilainen,et al.  Dynamics of a closed kinematic chain crane with a suspended load , 1988 .

[21]  Chi-Cheng Cheng,et al.  Controller design for an overhead crane system with uncretainty , 1996 .

[22]  Ali H. Nayfeh,et al.  Dynamics and Control of Cranes: A Review , 2003 .

[23]  B. Lazan.  Damping of materials and members in structural mechanics , 1968 .

[24]  Matthew P. Cartmell,et al.  Modelling of a mobile gantry crane system as a basis for control , 1994 .

[25]  Bogdan Posiadała,et al.  Motion of the lifted load brought by a kinematic forcing of the crane telescopic boom , 1990 .

[26]  Y. Yavin,et al.  The application of extended inverse dynamics control , 2000 .

[27]  Glenn R. Heppler,et al.  DYNAMICS OF A THREE-DIMENSIONAL OVERHEAD CRANE SYSTEM , 2001 .