Mobile Portable Tower Crane
Advanced Crane Control Laboratory
Cranes are used to transport heavy loads at construction sites, shipyards, factories, and warehouses throughout the world. All cranes use vertical suspension cables to support the payload, thereby creating the possibility of pendulum-like payload oscillation. Input shaping can drastically reduce this oscillation. However, another major drawback of cranes is that they are often difficult and slow to deploy. This fact, when coupled with the limited (or nonexistent) mobility of most cranes, increases construction costs. A crane with a mobile base could help alleviate this problem, in addition to expanding crane functionality. For example, a mobile crane could greatly aid first responders at a disaster scene.
The addition of base mobility to cranes introduces additional control challenges. Base motion will excite the oscillation modes. However, the addition of base motion also presents additional control opportunities. A mobile crane will have redundant actuation; multiple combinations of actuators can be used to move the payload from one location to another. This presents the opportunity to
| choose a combination of actuation that provides rapid motion and results in low levels of system oscillation. Combinations of actuation could also be chosen to increase the robustness of the control system. Using Input Shaping as a base, this research will explore these possibilities. Main research questions include:
Close up of the mobile tower crane base.