Anti-sway system for boom cranes based on an optimal control approach

Author

Arnold, E. ; Sawodny, O. ; Hildebrandt, A. ; Schneider, K.

Author_Institution

Fraunhofer Application Center Syst. Technol., Ilmenau, Germany

Volume

4

fYear

2003

fDate

4-6 June 2003

Firstpage

3166

Abstract

For the operation of boom cranes a significant high level of experience is needed to achieve a large amount of handled containers. Therefore, automation systems with anti-sway abilities for boom cranes were developed to increase the handling rate especially for inexperienced crane operators. In the paper, an optimal control approach is presented as an alternative to feedback control systems. After deriving the nonlinear dynamic model, the anti-sway problem is formulated as a nonlinear constrained optimal control problem. The numerical solution method for this optimal control problem is presented. The results are illustrated at measurements for the harbour mobile crane LIEBHERR LHM400.

Keywords

Newton method; cranes; nonlinear dynamical systems; open loop systems; optimal control; state feedback; state-space methods; LIEBHERR LHM400; anti sway abilities; anti-sway system; automation systems; boom cranes; constrained optimal control approach; crane operators; feedback control systems; harbour mobile crane; nonlinear dynamic model; Automation; Control systems; Costs; Cranes; Differential equations; Feedback control; Nonlinear dynamical systems; Optimal control; Shape control; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1244016

Filename

1244016