Hoisting Manipulation by Modal Coupling Control for Underactuated Cranes
The reduction of payload pendulations is an important matter in the operation of cranes. Such oscillations can be excited by external influences like wind loads or by displacements of the support mechanism. Furthermore, for cranes with variant cable length oscillations are boosted by the hoisting of the payload.
The aim of the presented control strategy is to manipulate the desired hoisting velocity by superposition of a suitably modulated motion in order to reduce amplifications of the pendulations, in particular in absence of other effective control inputs.
Experimental results are presented for a simple pendulum. Numerical investigations extend the control strategy to an examplary 3-dimensional multibody system featuring the flying-crane-concept as designed for cargo airships.
Key wordscrane dynamics autoparametric resonances modal coupling control
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