Reduction of vibrations of the hook and payload on two degrees of freedom-pendulum crane trolley model to innovate crane production and safety by using an incremental sliding-mode motion control method

Abstract

Fast crane trolley motions when rigging object cause large amplitude vibrations of hook and payload. These are disadvantages related to safety, precision stop motions and in increasing cranes production capacity, especially when using intelligent construction cranes for automation erections. This paper presents the investigation of the sliding – mode motion 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 an inceremetal silding -mode controller that has a high robustness to solve the problem. This paper firstly starts with the overview about the crane trolley control methods for reducing the vibrations of the payload and hook in the single degree of freedom and two degree of freedoms models, Secondly, are some basic concepts about the sliding-mode motion control method. Thirdly, an incremetal silding-mode motion controller was designed and applied for two degrees of freedom-pendulum type crane trolley model in the jib plane. 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 desinged incremental sliding-mode motion controller. Finally, comments about the numerical simulation outcomes and conclusion.