Slewing Motion Control of Jib Crane Considering Load Swing in Radial Direction

Abstract

In recent years, control methods of load swing for jib crane have been studied for the purpose of improving work efficiency and preventing accidents. The slewing motion of jib crane can suppress the load swing in the circumferential direction. However, there is the problem of load swing in radius direction caused by the slewing motion of jib crane. In particular, it is difficult to suppress swing in radial direction of a load in a jib crane, which has limited derricking motion due to structural problems. Therefore, in this paper, we focus on the natural frequency of the jib crane and propose a slewing motion control method considering load swing in radial direction. In this paper, we have designed a controller based on the DMM（Dual Model Matching）method, which is resistant to disturbances and characteristic fluctuations of the controlled object. And we conducted experiments using the small crane model machine. From the experiments, we confirmed the control performance of suppressing load swing in circumferential and radial directions.