Command shaping control of an operator-in-the-loop boom crane

This paper presents a control method for suppressing payload sway caused by operator commanded maneuvers, in rotary boom cranes. The crane configuration studied, consists of a payload mass that swings at the end of a spherical pendulum, which is attached to a boom capable of hub rotation and elevation. Positioning of the rotary crane is accomplished through the hub and boom angles, and the lift line length. Since the configuration of the crane affects the excitation and response of the lift line, the sway control scheme must account for the varying geometry of the system. Adaptive forward path command filters are employed to remove the components of the command signal which induce oscillation of the lift line. A real-time operator-in-the-loop simulation, is used to demonstrate results for a simultaneous three-axis maneuver