0
Research Papers

Three-Dimensional Dynamic Modeling and Control of Off-Centered Bridge Crane Lifts

[+] Author and Article Information
Anthony Garcia

School of Mechanical Engineering,
Virginia Polytechnic and State University,
Blacksburg, VA 24061
e-mail: Ajgarcia@vt.edu

William Singhose

School of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332
e-mail: Singhose@gatech.edu

Aldo Ferri

School of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332
e-mail: Al.Ferri@me.gatech.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 15, 2016; final manuscript received October 11, 2016; published online February 6, 2017. Assoc. Editor: Heikki Handroos.

J. Dyn. Sys., Meas., Control 139(4), 041005 (Feb 06, 2017) (9 pages) Paper No: DS-16-1031; doi: 10.1115/1.4035030 History: Received January 15, 2016; Revised October 11, 2016

When cranes lift payloads off the ground, the payload may slide sideways or swing unexpectedly. This motion occurs when the payload is not directly beneath the overhead suspension point of the hoist cable. Given that cable suspension points can be hundreds of feet above the payload, it is difficult for crane operators to know if the hoist cable is vertical before lifting the payload off the ground. If an off-center lift creates substantial horizontal motion, then it can create significant hazards for the operators, the payload, and the surrounding environment. This paper develops a three-dimensional dynamic model that predicts motions of off-centered lifts.

Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 4

Payload and ground interaction model

Grahic Jump Location
Fig. 3

Friction model: (a) Stribeck friction and (b) continuous Stribeck friction

Grahic Jump Location
Fig. 5

Main elements of the crane model: (a) trolley, (b) hook, and (c) payload

Grahic Jump Location
Fig. 7

Bottom corner positions predicted by Peng's model (lift height of 5 cm and initial offset of 1.2 m): (a) horizontal motion and (b) vertical motion

Grahic Jump Location
Fig. 6

Experimental setup: (a) side view and (b) overview schematic

Grahic Jump Location
Fig. 2

Control block diagram of autocentering trolley positioning system

Grahic Jump Location
Fig. 1

Schematic diagram of an off-centered lift

Grahic Jump Location
Fig. 8

Horizontal positions of payload bottom corners (lift height of 5 cm and initial offset of 1.2 m)

Grahic Jump Location
Fig. 9

Vertical positions of payload bottom corners (5 cm lift height and 1.2 m initial offset): (a) simulation results and (b) experimental results

Grahic Jump Location
Fig. 10

Contact instances of payload bottom corners with the ground (lift height of 5 cm and initial offset of 1.2 m): (a) simulation results and (b) experimental results

Grahic Jump Location
Fig. 11

Main elements of three-dimensional crane model: (a) trolley, (b) hook, and (c) payload

Grahic Jump Location
Fig. 17

Visual comparison of three-dimensional model with experiment—horizontal offset (I-axis) = 0.3 m, horizontal offset (J-axis) = 0.6 m, and height (K-axis) = 20 cm

Grahic Jump Location
Fig. 13

Payload camera: (a) parallel tape lines on the ground beneath the payload and (b) view of tape lines from the camera on-board the rotating payload

Grahic Jump Location
Fig. 14

Side ABCD—horizontal offset (I-axis) = 0.1 m, horizontal offset (J-axis) = 0.2 m, and height (K-axis) = 20 cm: (a) horizontal corner positions, (b) simulation vertical corner positions, and (c) experimental vertical corner positions

Grahic Jump Location
Fig. 15

Simulated maximum swing amplitudes of corner C against a parameter uncertainty sweep of payload mass

Grahic Jump Location
Fig. 16

Side AECG—horizontal offset (I-axis) = 0.1 m, horizontal offset (J-axis) = 0.2 m, and height (K-axis) = 20 cm: (a) horizontal corner positions, (b) simulation vertical corner positions, and (c) experimental vertical corner positions

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In