Modelling and control of vertical oscillation in overhead cranes

Sami Kiviluoto, Lasse Eriksson, Heikki N. Koivo

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

4 Citations (Scopus)

Abstract

Overhead cranes are widely used in industry for lifting and moving various loads. Right before lifting a heavy load from the ground the crane bridge slightly bends, which makes the load oscillate vertically during the lifting. Vertical oscillations may introduce unnecessary stress to the crane metal structures and hoisting machinery, and thus reduce the lifetime of the crane. Furthermore, vertical oscillations make the load handling and positioning more difficult, thus decreasing the performance of operations. Nevertheless, study of vertical oscillations in overhead cranes has been neglected in literature. In this paper, a model for analyzing vertical oscillations and for control design is developed. Oscillation control, based on rope force measurement, is developed to decrease maximal forces and to reduce the time of oscillation. The resulting controller is tested with a real overhead crane having nominal load of five tons.

Original languageEnglish
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherIEEE
Pages1290-1295
Number of pages6
Volume2015-July
ISBN (Electronic)9781479986842
DOIs
Publication statusPublished - 28 Jul 2015
MoE publication typeA4 Article in a conference publication
EventAmerican Control Conference - Chicago, United States
Duration: 1 Jul 20153 Jul 2015

Conference

ConferenceAmerican Control Conference
Abbreviated titleACC
CountryUnited States
CityChicago
Period01/07/201503/07/2015

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