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Nonlinear Modelling and Vibration Control of Jib Cranes

Jib cranes are widely used to transport objects in many factories and work places. Crane motions induce undesirable vibrations of the payload. Therefore, a jib crane designer should seek a satisfactory control method to suppress load vibrations during transportation. The aim of this work is to derive a nonlinear model of a jib crane, which takes into account the simultaneous rotational motions of the boom and the post. These motions induce not only load sway in the plane of motion, but also oscillations of the plane determined by the ropes and the vertical axis through the suspension point. An active vibration control, based on a stability study, has been developed to transport an object along a specified route in such a way that the aforementioned sway and oscillations of the object are suppressed quickly. The crane nonlinear model and the developed feedback control scheme are simulated using the data of an actual jib crane. The simulation results show the usefulness of the derived model and the proposed control scheme, in suppressing the payload vibration.