VIBRATION SUPPRESSION CONTROL FOR 5-DOF VARYING-CABLE-LENGTH TOWER CRANES

Abstract

Tower crane is widely used in various fields such as construction, industry, transportation, etc. The tower
crane, by its physical nature, is a oscillating pendulum in space, thus the vibrations of the load are inevitable
during operation, highlighting the necessity of researching vibration control methods for tower cranes. Most
current studies on anti-vibration for tower cranes focus on the object with a fixed cable length and 4 degrees
of freedom, while research on anti-vibration for 5 degrees of freedom tower cranes is still limited. This article
presents a sliding mode control (SMC) method for vibration control of a 5 degrees of freedom tower crane
with variable cable length. The control system, with high robustness, helps move the load along the desired
trajectory while effectively suppressing vibrations. The feasibility and effectiveness of the proposed control
method are tested through simulations.