Dynamics and Control of Industrial Cranes [electronic resource] /
Hong, Keum-Shik.author.
Shah, Umer Hameed.author.
This book introduces and develops the mathematical models used to describe crane dynamics, and explores established and emerging control methods employed for industrial cranes. It opens with a general introduction to the design and structure of various crane types including gantry cranes, rotary cranes, and mobile cranes currently being used for material handling processes. Mathematical models describing their dynamics for control purposes are developed via two different modeling approaches: lumped-mass and distributed parameter models. Control strategies applicable to real industrial problems are then discussed, including open-loop control, feedback control, boundary control, and hybrid control strategies. Finally, based on the methods covered in the book, future research directions are proposed for the advancement of crane technologies. This book can be used by graduate students, engineers, and researchers in the material handling industry including those working in warehouses, manufacturing, construction sites, ship building, seaports, container terminals, nuclear power plants, and in offshore engineering.
1 Introduction -- 1.1 Gantry Cranes -- 1.2 Rotary Cranes -- 1.3 Mobile Cranes -- References -- 2 Lumped-Mass Models of Gantry Cranes -- 2.1 Single-Rope Hoisting Models -- 2.2 Multi-Rope Hoisting Models -- 2.3 Double Pendulum Crane Models -- 2.4 Underwater Load Transportation -- 2.5 Simulations -- References -- 3 Lumped-Mass Models of Rotary Cranes -- 3.1 Tower Cranes -- 3.2 Boom Cranes -- 3.3 Simulations -- References -- 4 Lumped-Mass Models of Mobile Cranes -- 4.1 Truck-Mounted Cranes -- 4.2 Ship-Mounted Cranes -- 4.3 Simulations -- References -- 5 Distributed-parameter Models -- 5.1 Crane Systems Operating in Air -- 5.2 Underwater Applications -- 5.3 Simulations -- References -- 6 Open-loop Control -- 6.1 Optimal Control -- 6.2 Input Shaping -- 6.3 Simulations -- References -- 7 Feedback Control -- 7.1 Linear Feedback Control -- 7.2 Nonlinear Feedback Control -- 7.3 Hybrid Control Methods -- 7.4 Feedback Control Application to Distributed-Parameter Systems -- 7.5 Simulations -- References -- 8 Conclusions and Future Research Directions -- 8.1 Future research directions -- Appendix.
This book introduces and develops the mathematical models used to describe crane dynamics, and explores established and emerging control methods employed for industrial cranes. It opens with a general introduction to the design and structure of various crane types including gantry cranes, rotary cranes, and mobile cranes currently being used for material handling processes. Mathematical models describing their dynamics for control purposes are developed via two different modeling approaches: lumped-mass and distributed parameter models. Control strategies applicable to real industrial problems are then discussed, including open-loop control, feedback control, boundary control, and hybrid control strategies. Finally, based on the methods covered in the book, future research directions are proposed for the advancement of crane technologies. This book can be used by graduate students, engineers, and researchers in the material handling industry including those working in warehouses, manufacturing, construction sites, ship building, seaports, container terminals, nuclear power plants, and in offshore engineering.
Manufactures.
Control and Systems Theory.
Manufacturing, Machines, Tools, Processes.
Mechatronics.