Author: Lee, Siu-wah
Title: Residual vibration free maneuvering of overhead crane
Degree: M.Sc.
Year: 1997
Subject: Cranes, derricks, etc. -- Design and construction
Hong Kong Polytechnic University -- Dissertations
Department: Department of Mechanical Engineering
Multi-disciplinary Studies
Pages: vi, 126 p. : ill. (some col.) ; 30 cm
Language: English
Abstract: Overhead cranes are widely used to transport objects in many factories and work places. The fundamental motions are travel, transverse, object hoisting, and object lowering. Crane travel and transverse motions, especially when starting or stopping, induce undesirable swinging of the suspended object. This swing could, for example, cause the suspension ropes to leave their grooves which could lead to over-wrapping and possible serious damages. Current crane maneuvers are therefore performed slowly contributing to high construction and transportation costs. This investigation details a general method for applying command shaping to one degree of freedom cranes such that the payload moves to a specified point without residual oscillation. In order to suit the hardware requirement, parameter optimization method is used to generate command shaping for optimal maneuvers. The commands are linear combinations of acceleration pulse basis functions. The weights on the basis functions are chosen as the solution to a parameter optimization problem solved using a Recursive Programming Technique. Application of command shaping technique on one degree of freedom overhead crane system is verified by computer simulation and experimental result.
Rights: All rights reserved
Access: restricted access

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