Nonlinear Control for Vibrations of a Load of Swing Crane

摘要

The purpose of crane operation is to carry a load to a desired position quickly and safely. The oscillations of a suspended load occur in the operation. The sway motions in radius and circumfer- ence directions are coupled in a swing crane, so the oscillations in both directions are controlled at the same time. In this paper, the oscillations of a load are reduced by a nonlinear control theory. First, the algebraic equations of motion (AEM) is derived by Hamilton's law for transition interval of the system. Second, A direct optimal control is applied to the nonlinear system based on AEM. The direct optimal controller of the crane system based on AEM is obtained under the assumption that the crane boom is rigid and the wire rope and load system is a nonlinear pendulum. The numerical examples for crane models show the efficiency of the controller for the suppression of sway motions and the ability of positioning. The effectiveness of the controller is verified by the experi- mental results.