Modelling and control of a knuckle boom crane

DOI10.1080/00207179.2021.1913290zbMATH Open1500.93075arXiv2103.16207OpenAlexW3139611348MaRDI QIDQ5043499FDOQ5043499

Authors: Mary Ambrosino, Emanuele Garone 

Publication date: 6 October 2022

Published in: International Journal of Control (Search for Journal in Brave)

Abstract: Cranes come in various sizes and designs to perform different tasks. Depending on their dynamic properties, they can be classified as gantry cranes and rotary cranes. In this paper we will focus on the so called 'knuckle boom' cranes which are among the most common types of rotary cranes. Compared with the other kinds of cranes (e.g. boom cranes, tower cranes, overhead cranes, etc), the study of knuckle cranes is still at an early stage and very few control strategies for this kind of crane have been proposed in the literature. Although fairly simple mechanically, from the control viewpoint the knuckle cranes present several challenges. A first result of this paper is to present for the first time a complete mathematical model for this kind of crane where it is possible to control the three rotations of the crane (known as luff, slew, and jib movement), and the cable length. The only simplifying assumption of the model is that the cable is considered rigid. On the basis of this model, we propose a nonlinear control law based on energy considerations which is able to perform position control of the crane while actively damping the oscillations of the load. The corresponding stability and convergence analysis is carefully proved using the LaSalle's invariance principle. The effectiveness of the proposed control approach has been tested in simulation with realistic physical parameters and in the presence of model mismatch.

Full work available at URL: https://arxiv.org/abs/2103.16207

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zbMATH Keywords

nonlinear controlroboticsunderactuated systemsoscillation reductionknuckle cranes

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Cites Work

• Continuous-time model predictive control of under-actuated spacecraft with bounded control torques
• Motion control of underactuated mechanical systems
• Adaptive integral sliding mode control with payload sway reduction for 4-DOF tower crane systems

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• Modelling and control of a flexible rotary crane
• A 3D model for static and dynamic analysis of an offshore knuckle boom crane
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• Modeling the dynamics and kinematics of a telescopic rotary crane by the bond graph method. II
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• Non-linear model based control for a hydraulically actuated mobile harbour crane
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