Investigation of reduction of vibrations of the hook and payload on two degrees of freedom- pendulum crane trolley mathematical model by using output feedback-based control method

Abstract

Rapid velocities crane trolley operations may cause large amplitude hook and payload oscillations. These are disadvantageous to safe, precise and performance of crane operations, especially when using intelligent construction cranes for automation erections. This paper presents the investigation of output feedback - based control method for the anti-sway problem of two degrees of freedom pendulum-type crane trolley model. Practically, the angular velocities of hook and payload are always oscillated in most crane operations. Such a practical problem needs the output feedback-based controller. This paper starts with some the performance analysis when using cranes, Secondly, are some basic concepts about output feedback – based control method. Thirdly, an output feedback-based controller is designed and applied for two degrees of freedom-pendulum type crane trolley model. Fourthly, the system stability analysis is also proven in the sense of Lyapunov. Fifthly, numerical simulation results in Matlab are presented to support for the output feedback - based control method design. Finally, comments about the numerical simulation outcomes and conclusion.