Details

Autor(en) / Beteiligte

• Chen, Ke
• Zhou, Huixing
• Shan, Xiaowei

Titel

Rotation-control device for construction cranes with nested PID control

Ist Teil von

• Automation in construction, 2023-02, Vol.146, p.104704, Article 104704

Ort / Verlag

Elsevier B.V

Erscheinungsjahr

2023

Quelle

Access via ScienceDirect (Elsevier)

Beschreibungen/Notizen

• In the transportation of building materials utilizing construction cranes, for reducing the free rotation frequently of suspended loads from external disturbances in the horizontal plane, this paper proposed a Rotation-Control Device (RCD) by the momentum wheel activated based on the law of conservation of angular momentum. The mathematical mode was derived, and the simulation model was established to optimize the nested Proportional–Integral–Derivative (PID) controller. The prototype experiments were built to verify the effectiveness of the RCD. The experimental results show that RCD can rotate a suspended load to a set orientation precisely by wireless remote control. The significance of the results lies in the guaranteed safety of the operators, and the improvement of working efficiency. Future studies will focus on the implementation of the RCD in actual construction sites that include the velocity of the crane and the disturbance of the wire rope. •A method based on the conservation of angular momentum was proposed.•A rotation-control device in which a lightweight and convenient attitude control mechanism were developed.•The load can be adjusted in real-time, and the stepless angle change of the load can be realized.•A nested PID control algorithm was designed.•Experiments demonstrated the feasibility of the research method and the effectiveness of the control algorithm.