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Slew control methods for tower cranes
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Reglermetoder f¨or sv¨angning av tornkran (Swedish)
Abstract [en]

Today, tower cranes are in widespread use on construction sites all around the world. An

important issue that arises when operating these cranes is the oscillatory behavior that occurs

during payload transportation, which can have severe effects on safety as well as accuracy of

payload delivery. Due to the nonlinear nature of the rotating crane motion, controlling these

oscillations is a complex task. Additionally, the lack of sensors on many cranes that are in

use today requires extra effort to design effective control strategies. While current research has

made good progress on the subject of tower crane control, less attention has been given to the

practical implications of applying these control methods to industrial tower cranes.

This thesis provides a comparison of some of the best possible tower crane control strategies

that can be achieved using modern control concepts. A performance analysis as well as a more

practical comparison through a real-time tower crane simulator will give a deeper insight into

the theoretical and practical limitations of these methods.

Abstract [sv]

Tornkranar anv¨ands p°a byggarbetsplatser ¨over hela v¨arlden. En egenskap hos dessa kranar som

oftast inte ¨ar ¨onskv¨ard ¨ar det oscillerande beteendet av lasten under f¨orflyttningen. Detta har

en negativ p°averkan p°a s¨akerheten och positionsnoggranheten av lasten. P°a grund av den ickelinj

¨ara karakt¨aren av den roterande r¨orelsen av tornkranen ¨ar det sv°art att h°alla sv¨angningarna

under kontroll. Likas°a saknas sensorer i m°anga kranar vilket g¨or det extra sv°art att utveckla en

effektiv styrstrategi. Den senaste forskningen har lett till ett antal framg°angsrika metoder f¨or

kontroll av tornkranar, men mindre uppm¨arksamhet har ¨agnats°at de praktiska implikationerna

av till¨ampningen av dessa metoder p°a industriella tornkranar.

Det h¨ar examensarbetet ger en j¨amf¨orelse av n°agra av de mest lovande moderna teknikerna f¨or

kontroll av tornkranar. En prestandaj¨amf¨orelse och en mer praktisk j¨amf¨orelse med hj¨alp av en

realtids-kran-simulator ger en djupare insikt i de teoretiska och praktiska begr¨ansningarna av

de olika metoderna.

Place, publisher, year, edition, pages
2012.
Series
MMK 2012:44 MDA 432
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-99290OAI: oai:DiVA.org:kth-99290DiVA: diva2:541819
External cooperation
ABB Corporate Research, Marcus Pettersson
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-07-24 Created: 2012-07-24 Last updated: 2012-07-24Bibliographically approved

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Wim Devesse(4100 kB)3413 downloads
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