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Simple Dynamics and Open-Loop Control for Horizontal Boom Motion of Rotary Cranes

[+] Author Affiliations
Naoki Uchiyama, Shigenori Sano

Toyohashi University of Technology, Aichi, Japan

Huimin Ouyang

Nanjing University of Technology, Nanjing, China

Paper No. MSEC2014-3985, pp. V001T04A036; 6 pages
  • ASME 2014 International Manufacturing Science and Engineering Conference collocated with the JSME 2014 International Conference on Materials and Processing and the 42nd North American Manufacturing Research Conference
  • Volume 1: Materials; Micro and Nano Technologies; Properties, Applications and Systems; Sustainable Manufacturing
  • Detroit, Michigan, USA, June 9–13, 2014
  • Conference Sponsors: Manufacturing Engineering Division
  • ISBN: 978-0-7918-4580-6
  • Copyright © 2014 by ASME


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.

Copyright © 2014 by ASME



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