Crane wire rope oscillation and Swinging Reduction

Abstract

This thesis work aimed to design control method for RT105 boom truck working at OT mining site. The main methods of controlling the payload swing induced by the crane are input shaping, feedback control and optimal trajectory. In this thesis, each of mentioned methods will be explained with their advantages and disadvantages. Literature review of using those methods were also mentioned in the chapter 2, such as crane oscillation control, mobile boom crane and advanced input shaping control and paper containing controlling progress of the payload induced by the crane and other external disturbances.