Dynamics and zero vibration input shaping control of a small-scale boom crane

Cranes are vital to many manufacturing and material-handling processes. However, their physical structure leads to flexible dynamic effects that limit their usefulness. Large payload swings induced by either intentional crane motions or external disturbances decrease positioning accuracy and can create hazardous situations. Mobile boom cranes are one of the most dynamically complicated types of cranes. Boom cranes cannot move the payload in a straight line by actuating only one axis of motion because they have rotational joints. This paper presents a nonlinear model of a mobile boom crane. Then, a large range of possible motions is analyzed to investigate the dynamic behavior of the crane. A command-shaping control technique is applied to this nonlinear machine and its effectiveness is analyzed. Experimental results confirm the predicted oscillation phenomenon.