Research Papers

Tip-Over Stability Analysis of Mobile Boom Cranes With Swinging Payloads

[+] Author and Article Information
William Singhose

e-mail: Singhose@gatech.edu

Taft Jones

Woodruff School of Mechanical Engineering,
Georgia Institute of Technology,
Atlanta, GA 30332

Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received April 19, 2010; final manuscript received July 3, 2012; published online March 28, 2013. Assoc. Editor: Swaroop Darbha.

J. Dyn. Sys., Meas., Control 135(3), 031008 (Mar 28, 2013) (6 pages) Paper No: DS-10-1101; doi: 10.1115/1.4023276 History: Received April 19, 2010; Revised July 03, 2012

Mobile boom cranes are used throughout the world to perform important and dangerous manipulation tasks. The usefulness of these cranes is greatly improved if they can utilize their mobile base when they lift and transfer a payload. However, crane motion induces payload swing. The tip-over stability is degraded by the payload oscillations. This paper presents a process for conducting a stability analysis of such cranes. As a first step, a static stability analysis is conducted to provide basic insights into the effects of the payload weight and crane configuration. Then, a semi-dynamic method is used to account for payload swing. The results of a full-dynamic stability analysis using a multibody simulation of a boom crane are then compared to the outcomes of the simpler approaches. The comparison reveals that the simple semi-dynamic analysis provides good approximations for the tip-over stability properties. The results of the stability analyses are verified by experiments. The analysis in this paper provides useful guidance for the practical tip-over stability analysis of mobile boom cranes and motivates the need to control payload oscillation.

Copyright © 2013 by ASME
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Fig. 1

A large mobile boom crane

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Fig. 2

Schematic diagram of a mobile boom crane

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Fig. 3

Boom crane experimental apparatus

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Fig. 4

Maximum payload for α=0 deg

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Fig. 5

Maximum payload for α=30 deg

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Fig. 6

Bang-coast-bang command in acceleration

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Fig. 7

Simulated maximum swing angles depending on the move distance

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Fig. 8

Maximum payload for α=30 deg

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Fig. 9

Model of the multibody simulation (top view)

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Fig. 10

Model of the multibody simulation (side view)

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Fig. 11

Model of the multibody simulation (back view)

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Fig. 12

Maximum payload for α=30 deg

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Fig. 13

Maximum payload for α=45 deg

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Fig. 14

Maximum payload for a bang-coast-bang acceleration, α=30 deg

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Fig. 15

Maximum payload for a bang-coast-bang acceleration, α=45 deg



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