fnctId=thesis,fnctNo=374
Swing speed control for enhancing stability and reducing payload swing in a crawler crane
- Link
- https://doi.org/10.1177/1464419325139690
- Writer
- 고대철
- Author
- Ji-Su Jeong, Byeong-HakKim, Hong-InWon , Dae-Cheol Ko, Jin-Seok Jang
- Publication matter
- Journal of Multi-body Dynamics
- Publication Date
- 2025-12
- Korean Abstract
- English Abstract
- This study proposes a combined approach of structural optimization and control system design to enhance slewing stability
and suppress payload oscillation in crawler cranes. First, a parametric finite element model of the lattice boom was developed,
and the thickness of the boom pipes was defined as the design variable for structural optimization. As a result, the
boom weight was reduced by ∼10.1% while satisfying the maximum stress constraint, and the counterweight mass was
reduced by 4.7% while maintaining moment equilibrium in the overall system. This led to a significant reduction in the overall
system inertia, consequently reducing the required slewing torque. Subsequently, a flexible-body multibody dynamic
model was used to evaluate the effectiveness of three different controller configurations in suppressing the pendulum
motion of the payload during crane slewing. The control architecture consists of a slewing controller, a swing feedback controller,
and a cable length controller. The control gains were optimized based on predefined objective functions and constraints.
Notably, the cable length controller was designed to ensure a negative rate of change in the payload’s kinetic
energy, enabling active damping of pendulum motion. Simulation results demonstrated that the proposed control strategy
effectively reduced the payload’s swing angular velocity by up to 40% and suppressed the oscillation amplitude by as much as
37.6%. The reduced kinetic energy also contributed to lowering the dynamic load acting on the lattice boom, thereby
improving the overall system stability. This integrated framework of structural design and control strategy provides a practical
and effective solution for enhancing the dynamic stability of crane systems, with potential applications in intelligent
construction machinery and large-scale mobile structures.
- Text
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