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Research Papers

Command Shaping Slewing Motions for Tower Cranes

[+] Author and Article Information
Jason Lawrence

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405jason.w.lawrence@gmail.com

William Singhose

Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405

Provided the command itself does not add extra poles (31).

J. Vib. Acoust 132(1), 011002 (Jan 08, 2010) (11 pages) doi:10.1115/1.3025845 History: Received May 04, 2007; Revised October 16, 2008; Published January 08, 2010; Online January 08, 2010

Input shaping has been shown to be a practical and effective control scheme for reducing payload swing on industrial bridge and gantry cranes. However, when applied to tower cranes, standard input shapers will have degraded performance due to the nonlinear dynamics of rotational motion. To alleviate this problem, two new command generators for tower cranes are developed for a point-to-point slewing motion. It is shown that standard shaping techniques greatly reduce oscillation and the new tower crane command generators cause even less residual vibration. Simulations and experiments verify the results.

Copyright © 2010 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Tower cranes at La Sagrada Família in Barcelona

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Figure 2

Block diagram of an input-shaped crane system

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Figure 3

Transport operation: shaped versus unshaped response

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Figure 4

Trolley and payload coordinates

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Figure 5

Shaped command example

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Figure 6

ZV2lin command template

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Figure 7

Vector diagram for ZV2lin slewing command

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Figure 8

Response of ZV2lin command

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Figure 9

UMZV2lin shaper template

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Figure 10

Response of UMZV2lin command

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Figure 11

Residual vibration of shaped and unshaped commands for various pulse times

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Figure 12

Residual oscillation for various suspension lengths and slew velocities

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Figure 13

Shaper duration as a function of suspension length and slew velocity

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Figure 14

Shaper robustness

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Figure 15

Schematic of tower crane.

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Figure 16

Residual vibration as a function of pulse times

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