Anti-Sway Control of a Jib Crane Using Time Optimal Control

J. Ocean Eng. Technol. 2005;19(1):87-94.

KANG MIN-WOO;HONG KEUM-SHIK;

Department of Mechanical and Intelligent Systems Engineering, Pusan National University;School of Mechanical Engineering, Pusan National University;

시간최적제어를 이용한 지비크레인의 흔들림제어

강민우;홍금식;

부산대학교 지능기계공학과;부산대학교 기계공학부;

Keywords: Jib Crane, Velocity Profile, Time Optimal Control

핵심용어: 지브크레인, 속도선도, 시간최적제어

Abstract

This paper investigates the constant-level luffing and time optimal control of jib cranes. The constant-level luffing, which is the sustainment of the load at a constant height during luffing, is achieved by analyzing the kinematic relationship between the angular displacement of a boom and that of the main hoist motor of a jib crane. Under the assumption that the main body of the crane does not rotate, the equations of motion of the boom are derived using Newton's Second Law. The dynamic equations for the crane system are highly nonlinear; therefore, they are linearized under the small angular motion of the load to apply linear control theory. This paper investigates the time optimal control from the perspective of no-sway at a target point. A stepped velocity pattern is used to design the moving path of the jib crane. Simulation results demonstrate the effectiveness of the time optimal control, in terms of anti-sway motion of the load, while luffing the crane.