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Reduction of Transient Payload Swing in a Harmonically Excited Boom Crane by Shaping Luff Commands

[+] Author Affiliations
Daniel Newman, Joshua Vaughan

University of Louisiana at Lafayette, Lafayette, LA

Paper No. DSCC2017-5247, pp. V002T23A004; 10 pages
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME


The control of boom cranes is a topic that has generated a significant amount of research. Particularly, cranes mounted on ocean-going ships pose a significant challenge. Due to the harmonic disturbance resulting from ocean conditions, open-loop control methods such as input shaping have been largely ignored in this area of research. This work will develop linearized governing equations for a planar, harmonically-excited boom crane. Using these approximations, a command-shaping strategy that minimizes payload deflection during and shortly after a luff command will be presented. It is anticipated that this method will be used to smooth the transition to a closed-loop controller which engages after the operator-given command is complete.

Copyright © 2017 by ASME



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