Vibration suppression of fixed-time jib crane maneuvers

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Description

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 ... continued below

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10 p.

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Parker, G. G.; Petterson, B.; Dohrmann, C. R. & Robinett, R. D. February 1, 1995.

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Description

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 for 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.

Physical Description

10 p.

Notes

OSTI; NTIS; GPO Dep.

Source

  • North American conference on smart structures and materials,San Diego, CA (United States),26 Feb - 3 Mar 1995

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  • Other: DE95006824
  • Report No.: SAND--95-0139C
  • Report No.: CONF-950228--1
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 10118312
  • Archival Resource Key: ark:/67531/metadc1281339

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • February 1, 1995

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  • Oct. 12, 2018, 6:44 a.m.

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Parker, G. G.; Petterson, B.; Dohrmann, C. R. & Robinett, R. D. Vibration suppression of fixed-time jib crane maneuvers, article, February 1, 1995; United States. (digital.library.unt.edu/ark:/67531/metadc1281339/: accessed November 14, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.