Modelling of Dynamic Behavior and Control of Truck Cranes. Velocity Control of Truck Cranes with Hydraulic System in Swing Operation.

This work is concerned with sway control of hydraulic truck cranes in swing operation. In order to control the load sway, velocity control of a swing motor in a hydraulic system and sway control in a pendulum-type system are necessary. For control in the pendulum-type system, a technique of employing the velocity pattern determined by the phase-trajectory and Newton-Raphson methods is adopted. The comparison of analytical and experimental results proves that sway is reduced by modifying the velocity pattern, when the initial load sway is in the rotational direction.