Automated longitudinal payload lift-up using bridge cranes
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Longitudinal payloads are a challenging portion of the payloads being transported in various industries. One way of transporting them is by attaching the payloads vertically to bridge cranes in double-pendulum configurations. The lift-up of a longitudinal payload lying on the ground to the aforementioned configuration is normally done manually. This process has disadvantages consisting of the misalignment between payload and bridge, human operator error, and uncontrollable system oscillation. In this thesis, the automated lift-up of longitudinal payloads using bridge cranes is proposed. The problems specific to each stage of this process are studied and solutions are developed. A side-swing trajectory is designed based on the detected and desired position of the payload. Input-shaping, a command modification method, is used to optimize this trajectory to lower oscillation. A circular lift-up trajectory is developed based on the dynamic model of the system and velocity commands to achieve the process is obtained through simulation. Observer-based model reference control is used to reduce residual vibration when the payload is lifted off ground. A dynamic model of the crane and payload system is constructed to design a meaningful reference model. Results show that both input shaping and model reference control helped reduce oscillation in the automated payload lift-up process.