起停式吊車減盪控制引導系統

A Crane Bang-Bang Control Guiding Method for Sway Reduction

陳鵬元(Peng-Yuan Chen)

指導教授 ： 康仕仲

共同指導教授 ： 張家銘

國立臺灣大學/工學院/土木工程學研究所/碩士(2018年)

https://doi.org/10.6342/NTU201801175

摘要

無資料

關鍵字

吊車 ； 起重機 ； 吊物減盪 ； 控制 ； 引導式控制 ； 電腦視覺

並列摘要

The swaying of the payloads suspended by cranes is a problem that can influence the efficiency of construction projects. When massive sway occurs, the operator is forced to waste precious time to wait until the payload stops. In practice, some operators may compensate the sway by manipulating the rotation of the boom. However, for novice operators, such practice may be challenging to perform. This problem can increase the duration of a crane transporting mission executed by a novice operator. On the other hand, though numerous researchers have been working on sway reduction of cranes, few of them focus on rotary boom cranes, which are widely used in construction industry. Therefore, we developed a sway reduction method to guide novice operators to properly control the boom to enhance their performance. Our method includes a crane bang-bang sway reduction strategy, a vision-based payload sensing method and an operator guiding method. First, the payload is continuously sensed by the vision-based payload sensing method. Then, the state of the payload is judged basing on the crane bang-bang sway reduction strategy and the operator guiding method. Finally, the operator guiding method guides the operator to reduce sway properly. The method was realized and implemented on an industrial hydraulic rotary boom crane. A field test was conducted to test the sway reduction ability of the system. The result shows that the at the end of the sway reduction of our method, 56.5% of the sway angle was reduced. At the same period, the remaining angle of an experienced operator was 85.5%, and the remaining angle of an uncontrolled sway is 97.5%.

並列關鍵字

crane ； bang-bang control ； sway reduction ； guiding ； guiding interface ； operator guiding ； vision-based sensing

參考文獻

[1] S. Suđić, Initial Analysis, Planning and Calculation of Vertical Delivery in High-rise Building Construction, Periodica Polytechnica Architecture (2017).

[2] T.-Y.T. Kuo, S.-C.J. Kang, Control of fast crane operation, Automation in Construction 42 (2014) 25-35.

[3] H.M. Omar, A.H. Nayfeh, Anti-swing control of gantry and tower cranes using fuzzy and time-delayed feedback with friction compensation, Shock and Vibration 12 (2) (2005) 73-89.

[4] L. Ramli, Z. Mohamed, A.M. Abdullahi, H.I. Jaafar, I.M. Lazim, Control strategies for crane systems: A comprehensive review, Mechanical Systems and Signal Processing 95 (2017) 1-23.

[5] B. Chu, K. Jung, M.-T. Lim, D. Hong, Robot-based construction automation: An application to steel beam assembly (Part I), Automation in Construction 32 (2013) 46-61.