Reduction of Double-Pendulum Bridge Crane Oscillations

The natural sway of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is complicated when the payloads create a double-pendulum effect. Most crane control research to date has focused on single-mode dynamics. For example, several researchers have shown that signal-mode oscillations can be greatly reduced by properly shaping the inputs to the crane motors. This paper builds on those previous developments to create a method for suppressing double-pendulum payload oscillations. Theoretical models are initially used to develop and evaluate the input-shaping control algorithm. Then, experiments performed on a portable bridge crane are used to verify the practical effectiveness of the method.

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