Original scientific paper

A slewing crane payload dynamics

Ivica Marinović ; Fund for Vocational Rehabilitation and Employment of Persons with Disabilities, Vilsonovo šetalište 10, 71000 Sarajevo, B&H
Denijal Sprečić ; University of Tuzla, Faculty of Mechanical Engineering, Univerzitetska 4, 75000 Tuzla, B&H
Boris Jerman ; University of Ljubljana, Faculty of Mechanical Engineering, Aškerčeva c. 6, 1000 Ljubljana, Slovenia

Abstract

To enable an optimum crane design concerning static and fatigue analyses and to enable development of an optimal crane control algorithms the dynamics of the crane and the suspended payload must be well identified. The paper presents a multi-mass model of a slewing crane designed for consideration of slewing motion of the crane that produces the spatial oscillation of the payload. To ensure sufficient accuracy the presented model consists of six masses and account for the non-linear nature of the swinging motion and the non-linearity of the power transmission. The elasticity and damping of the load-bearing steel structure as well as the friction in the main bearing, and the air resistance are also considered. The angles of the payload sway and the dynamic forces are obtained. For the purpose of the confirmation of the mathematical model a comparison of the simulated and measured results was prepared and good agreement was estimated.

Keywords

cranes; dynamic loading; equations of motion; non-linear dynamic systems; payload sway; slewing motion

Hrčak ID:

93565

URI

https://hrcak.srce.hr/93565

Publication date:

12.12.2012.

Article data in other languages: croatian

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