ABSTRACT
This chapter describes dynamic models of tower cranes transporting distributed-mass payloads. The complicated nonlinear dynamics are investigated for a wide range of slewing motions. The control method is successful in suppressing both the payload swing and twisting. The dynamical behavior of the nonlinear model and the effectiveness of the control method are verified from a testbed of a small-scale tower crane transporting a distributed-mass beam.
This chapter also reports dynamics of a tower crane having a flexible jib and carrying a bulky payload. The jib-pendulum dynamics exhibit complicated coupled-oscillators behavior. A control method is proposed to control jib-pendulum dynamics. Numerous experiments are performed to validate the effectiveness of the control method.
