ORCID
0009-0008-1958-2190
Abstract
Safety is of biggest importance in construction and industrial activities involving rotary cranes. These cranes are huge and responsible of moving large parts or/and materials from different positions. Now operating these cranes tend to be subdue to pay load oscillations when moving the load for which is extremely dangerous when not suppressed. This study proposes the generation of trajectory using Model predictive control approach with reduced control horizon compared to state horizon. Reduced control horizon design reduces computational time for trajectory generation while maintaining the pay-load sways to a minimum. In this approach the complex dynamic model is reduced to simple model to generate the trajectory generation while the complex dynamic model is used for validation and conforming. In comparison with the Proportional-Derivative (PD) controller, the proposed approach reduces the peak radial sway angle from approximately 0.30° to 0.10° (about 66.7% reduction), reduces the peak tangential sway angle from approximately 1.00° to 0.20° (about 80% reduction), and reduce the computational time by 85.7% when the control horizon is reduced while maintaining a prediction horizon. These quantitative results confirm that the proposed approach is superior to the PD baseline in terms of load-sway suppression.
Recommended Citation
Nyobuya, H. J. (2026). Trajectory-Based Model Predictive Control for Rotary Crane Sway Suppression with Only Horizontal Boom Actuation. Tanzania Journal of Engineering and Technology (TJET), 45(1), 193-201. https://doi.org/https://doi.org/10.65085/2619-8789.1072
Publisher Name
University of Dar es Salaam
Included in
Acoustics, Dynamics, and Controls Commons, Controls and Control Theory Commons, Electro-Mechanical Systems Commons, Manufacturing Commons