A Sway Reduction Controller For Construction Crane

Abstract

A tower crane can be reduced the sway oscillation easily by controlling the rotation acceleration. with the proposed open-loop fast control method which is operated by controlling acceleration, the sway angle of suspended load can be maintained during the movement as well as reduced oscillation during and at the end of movement. In this paper, we design and produce a scaled tower crane with a servo control mechanism which can be used to control crane rotation precisely. Also, we do experiments with our scaled tower crane to validate the proposed fast control method. Experiment results demonstrate the effectiveness of maintaining fixed angle during the movement and reducing oscillation.

Publication
Proceedings of the International Symposium on Automation and Robotics in Construction and Mining (ISARC)
Ci-Jyun Polar Liang
Ci-Jyun Polar Liang
Ph.D. Candidate

My research interests include construction robotics, computer vision, reinforcement learning, BIM, and extended reality.

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