CONTROL OF MOBILE CRANE EQUIPPED WITH SWING MINIMIZATION SYSTEM AND NONLINEAR CORRECTION SYSTEM

摘要

In mobile cranes, displacement of a payload is performed by an adequate composition of working movements. In the present work, a mathematical model of the control system controlling the slewing motion of a crane body is presented. This control system is equipped with a particular model of an intervention system changing the crane reach which is triggered when the threat of loss of stability occurs. The proposed model was utilized in the system of minimization of payload oscillations after ending of the phase of payload displacement via slewing motion.