Anti-sway control of marine cranes under the disturbance of a parallel manipulator

摘要

Cranes are used to move loads from one location to another in minimum time such that the load reaches its destination without swinging. This swinging problem gets aggravated in the presence of external disturbances such as in the case of marine cranes. This paper investigates the modeling of a tower crane model and different types of control schemes for both anti-swaying and input tracking control for the tower crane model under continuous external disturbances. The input shaping technique was applied for a tower crane model under continuous external disturbance. Then a closed- loop PID input shaper was implemented instead of the open-loop input shaper to compensate for the external disturbances. Also the response of the closed-loop PID input shaper was compared to a controller based on inverse dynamics. Environmental disturbances such as sea waves were simulated by the movement of a Stewart platform.