Swing-Free Cranes via Input Shaping of Operator Commands

This paper presents an open-loop control method for suppressing payload oscillation or swing caused by operator commanded maneuvers in rotary boom cranes and the method is experimentally verified on a one-sixteenth scale model of a Haggluncls shipboard crane. The crane configuration consists of a payload mass that swings like a spherical pendulum on the end of a lift-line which is attached to a boom capable of hub rotation (slewing) and elevation (luffing). Positioning of the payload is accomplished through the hub and boom angles and the load-line length. Since the configuration of the crane affects the excitation and response of the payload, the swing control scheme must account for the varying geometry of the system. Adaptive forward path command filters are employed to remove components of the command signal which induce payload swing. moving supplies ashore in the absence of port facilities. The keystone of the system will be boom cranes mounted on a dedicated ship, which will move cargo from container ships to lighterages, small landing craft, for transport to shore. See Figure 1.