NDLI: Anti-sway control for boom cranes

Content Provider	IEEE Xplore Digital Library
Author	Sawodny, O. Aschemann, H. Kumpel, J. Tarin, C. Schneider, K.
Copyright Year	2002
Description	Author affiliation: Dept. of Meas., Control & Microtechnology, Ulm Univ., Germany (Sawodny, O.; Aschemann, H.; Kumpel, J.; Tarin, C.)
Abstract	Increasingly boom cranes were used as harbor mobile cranes for container handling. In comparison to gantry cranes or overhead traveling cranes up until now there are only a few automation concepts for boom cranes, due to the dominant nonlinear plant behavior and the problem of measuring the rope angle, which the established methods can not be used. In this paper a trajectory tracking control for boom cranes is presented consisting of decentralized control modules and a trajectory generation module. Nonlinearities are compensated by a feedforward strategy and by gain scheduling adaptation of feedforward and feedback control. The rope angle is reconstructed out of gyroscope measurement signals by disturbance observers. The trajectory tracking control is realized on a harbor mobile crane LIEBHERR LHM 400. Measurement results show the efficiency of the presented control concept.
Sponsorship	American Autom. Control Council IFAC SICE
Starting Page	244
Ending Page	249
File Size	421704
Page Count	6
File Format	PDF
ISBN	0780372980
ISSN	07431619
DOI	10.1109/ACC.2002.1024811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Cranes Trajectory Automatic control Containers Automation Goniometers Automatic generation control Distributed control Feedback control Gyroscopes
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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