12 May 1995 Vibration suppression of fixed-time jib crane maneuvers
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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 of 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.
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Gordon G. Parker, Ben Petterson, Clark R. Dohrmann, Rush D. Robinett, "Vibration suppression of fixed-time jib crane maneuvers", Proc. SPIE 2447, Smart Structures and Materials 1995: Industrial and Commercial Applications of Smart Structures Technologies, (12 May 1995); doi: 10.1117/12.209327; https://doi.org/10.1117/12.209327


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