Construction Tower Crane SimMechanics-Visualized Modelling, Tower Vibration Impact on Payload Swing Analysis and LQR Swing Control

Abstract

Fast and accurate positioning and swing minimization of payloads in tower crane operation are challenging as well as conflicting tasks. Minimizing the load swing is primarily limited by the existence of wind disturbance effect triggering higher tower vibration, especially in the high speed course and load is in the end of tower region. In this paper, the authors propose a new modeling scheme for 3D tower crane, analyze wind disturbance affected-tower vibration impact on the load swing and develop LQR swing control. Firstly, SimMechanics-visualized crane model has been developed using actual tower crane Morrow (Liebherr 71EC) datasheet. Secondly, wind disturbance model was designed based on Gawronski approach and applies different wind patterns on the model for vibration impact analysis. Thirdly, improved version of linear least square system identification algorithm using 7 past inputs-outputs data has been developed to create better fit model. And finally, propose a new control scheme for 3D tower crane that consists of a reference point tracking with full state feedback Linear Quadratic Regulator (LQR). The simulations results show the robust controller performs well in minimizing the load swing due to wind-affected tower vibration and high speed region.
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