Vibration suppression of fixed-time jib crane maneuvers

Gordon G. Parker; Ben Petterson; Clark R. Dohrmann; Rush D. Robinett III

doi:10.1117/12.209327

12 May 1995 Vibration suppression of fixed-time jib crane maneuvers

Gordon G. Parker, Ben Petterson, Clark R. Dohrmann, Rush D. Robinett III

Proceedings Volume 2447, Smart Structures and Materials 1995: Industrial and Commercial Applications of Smart Structures Technologies; (1995) https://doi.org/10.1117/12.209327
Event: Smart Structures and Materials '95, 1995, San Diego, CA, United States

Abstract

A jib crane consists of a pendulum-like end line attached to a rotatable jib. Within this general category of cranes there exist devices with multiple degrees of freedom including variable load-line length and variable jib length. These cranes are commonly used for construction and transportation applications. Point-to-point payload maneuvers using jib cranes are performed so as not to excite the spherical pendulum modes of their cable and payload assemblies. Typically, these pendulum modes, although time-varying, exhibit low frequencies. The resulting maneuvers are therefore performed slowly, contributing to high construction and transportation costs. The crane considered here consists of a spherical pendulum attached to a rigid jib. The other end of the jib is attached to a direct drive motor of generating rotational motion. A general approach is presented for determining the open-loop trajectories for the jib rotation for accomplishing fixed-time, point-to-point, residual oscillation free, symmetric maneuvers. These residual oscillation free trajectories purposely excite the pendulum modes in such a way that at the end of the maneuver the oscillatory degrees of freedom are quiescent. Simulation results are presented with experimental verification.

Citation Download Citation

Gordon G. Parker, Ben Petterson, Clark R. Dohrmann, and Rush D. Robinett III "Vibration suppression of fixed-time jib crane maneuvers", Proc. SPIE 2447, Smart Structures and Materials 1995: Industrial and Commercial Applications of Smart Structures Technologies, (12 May 1995); https://doi.org/10.1117/12.209327

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