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Operating cranes is challenging because payloads experience large and dangerous oscillations, especially when the system is suffering from wind disturbances and the large-size payload is modeled as a distributed-mass model. The payload oscillations induced by both intentional motions commanded by the human operator and by the external wind disturbances make the dynamics more complicated. This paper presents a novel combined control architecture to limit oscillations of the distributed-mass payload caused by both human-operator commands and wind disturbances. While a smoothed command suppressed operator-induced oscillations, a wind-rejection command eliminated the payload swing resulting from the wind gusts. Through simulations, a large range of system parameters and motions are analyzed to investigate the dynamic behavior of bridge cranes with distributed-mass beams and wind disturbances by using the new control scheme. Experimental results obtained from a small-scale bridge crane validate the simulated dynamic behavior and the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]

Motion-induced oscillations of crane payloads seriously degrade their effectiveness and safety. Significant progress has been achieved with reducing payload oscillations on a single-pendulum crane with a point-mass payload attached to the end of the cable. However, large payloads and the actual configuration of the hoisting mechanism may transform the crane to a double-pendulum system with a distributed-mass payload. The manipulation task can be more challenging because of the complicated dynamics. The dynamics of bridge cranes transporting distributed-mass beams are derived. A command-smoothing scheme is presented to suppress the complex payload oscillations. Simulations of a large range of motions are used to analyze the dynamic behavior of the cranes and the robustness of the method. Experimental results obtained from a small-scale double-pendulum bridge crane transporting a distributed-mass beam validate the simulated dynamic behavior and the effectiveness of the method. [ABSTRACT FROM AUTHOR]