Modeling and anti-sway control of boom cranes

Xiangguo Li; Zhiqian Mei; Denglin Zhu; Zeyu Chen

doi:10.1117/12.3030308

5 June 2024 Modeling and anti-sway control of boom cranes

Xiangguo Li, Zhiqian Mei, Denglin Zhu, Zeyu Chen

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131636V (2024) https://doi.org/10.1117/12.3030308
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

This paper presents a sliding mode control algorithm to suppress the sway of the payload caused by operator instructions during the operation of a boom crane. Firstly, established a mathematical model of the boom crane, followed by the design of a sliding mode controller. Based on Lyapunov stability theory, stability analysis was conducted on the system, and finally, simulation analysis was conducted on the boom crane system. The simulation results evince that the proposed sliding mode control algorithm in the boom crane system can effectively suppress the residual sway of the payload, substantiating the availability of the method.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xiangguo Li, Zhiqian Mei, Denglin Zhu, and Zeyu Chen "Modeling and anti-sway control of boom cranes", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131636V (5 June 2024); https://doi.org/10.1117/12.3030308

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