SIMPLE DYNAMICS AND OPEN-LOOP CONTROL FOR HORIZONTAL BOOM MOTION OF ROTARY CRANES

摘要

This paper presents a simple model of rotary crane dynamics that includes only significant nonlinear force terms. This simple model allows to derive analytical solutions of the differential equations of the model. Thus, a simple trajectory that considers residual vibration suppression without sensing it, using only horizontal boom motion, can be generated by solving algebraic equations numerically. The effectiveness of the proposed method is demonstrated by numerical simulations and experimental results.