Antisway Control Considering Phase of Vibration of Suspended Load of A Crane(Mechanical Systems)

The concrete placing of a concrete dam by a large-scale crane is carried out by the skill operator based on the long experience. To apply an automatic driving of a crane in the construction of dams, shortening the cycle time of carriage and placing concrete is demanded. The rolling up and down of the hanging load while running of the trolley is needed for the improvement of the cycle time. Because the length of the hanging load rope changes, antisway control becomes difficult. We proposes a control technique of trolley considering the change of the phase velocity dependig on the length of the hanging load rope. The residual vibration after the trolley reaches the concrete placing position is not produced. Moreover, the validity of the proposed control technique was confirmed from the numerical simulation.