Vibration reduction of the rotary crane with flexible boom

抄録

Vibration is one of the significant problems in crane operation. In the rotary crane, the boom is a flexible structure. The vibration in this crane is occurred at the boom and the hoisted load. This research proposed a control strategy for designing the optimal trajectory of the rotary crane with a flexible boom, which can suppress the vibration in the mechanism. In the proposed approach, the simplified dynamics model of the flexible rotary crane was introduced for designing the control trajectory. The boom’s flexibility was modeled with mass-spring systems. The constant-velocity access control method and the point-to-point access control method were used to design the vibrationless trajectory. To estimate the efficiency of the proposed model, the numerical simulation and experiment on the laboratory-scale flexible crane were conducted to measure the motion of the boom tip and hoisted load. The results were compared with those from the vibration control model that did not include the boom’s flexibility. The simulation and experiment results illustrated that the proposed control model with the flexibility of boom was able to suppress the vibration of both boom and hoisted load. Furthermore, the proposed model showed a better vibration suppression than the model that neglected the boom’s flexibility when the crane was driven at high acceleration.