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Hoisting Manipulation by Modal Coupling Control for Underactuated Cranes

  • Andreas Bockstedte
  • Edwin Kreuzer
Part of the Solid Mechanics and its Applications book series (SMIA, volume 130)

Abstract

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 words

crane dynamics autoparametric resonances modal coupling control 

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References

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    Abdel-Rahman, E.M. and Nayfeh, A.H. (2000). Cargo-pendulation reduction in boom cranes via cable-length manipulation. In Proceedings of the 41th Structures, Structural Dynamics, and Materials Conference, Atlanta, GA, USA.Google Scholar
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    Abdel-Rahman, E.M., Nayfeh, A.H. and Masoud, Z.N. (2003). Dynamics and control of cranes: A review. Journal of Sound and Vibration, 9:863–908.Google Scholar
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    Bockstedte, A. and Kreuzer, E. (2005). Multibody system model of a cargo airship to study the load exchange process. Mathematical and Computer Modelling of Dynamical Systems, 11.Google Scholar
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    Tondl, A., Ruijgrok, T., Verhulst, F. and Nabergoj, R. (2000). Autoparametric Resonance in Mechanical Systems. Cambridge University Press, New York.Google Scholar

Copyright information

© Springer 2005

Authors and Affiliations

  • Andreas Bockstedte
    • 1
  • Edwin Kreuzer
    • 1
  1. 1.Mechanics and Ocean EngineeringTUHH — Hamburg University of TechnologyHamburgGermany

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