Vibration control of a large slewing crane by combining a plant model considering boom deflection with an inverse dynamics based on a rigid boom model

Abstract Slewing cranes are useful for the handling work of heavy objects, such as in construction works. However, the load sway of the crane is a major problem, because it reduces safety and workability. Especially in large slewing cranes, the deflection of the boom causes vibrations in both the load and the boom, making maneuvering and control difficult. Therefore, a vibration suppression method considering boom deflection and sway of suspended load is important. This study proposes a feedback control method based on an inverse dynamics calculation, which aims to suppress suspended load vibration by allowing the suspended load to follow the target trajectory. In this paper, we describe an inverse dynamics calculation method that considers the boom as a rigid body. This calculation is used as a compensation factor for the suspended load position, and a feedback control method is proposed to track the suspended load position to the target trajectory. Some simulation of the operation using the proposed method is performed to verify the vibration suppression.