Optimal Crane Motion Trajectory Generation Considering Energy Saving during Deceleration

A crane is a machine that transports heavy objects in various environments such as construction sites. Minimizing energy consumption is crucial because the operation of transporting the suspended load from a predetermined position to the target position and back to the initial position is repeated severally. In addition, energy saving is required from the global environment and resource problems perspective. In this study, we investigate the control that minimizes energy consumption while the crane transports the suspended load and suppresses the residual vibrations after transportation. The energy used in decelerating the crane can be minimized using hydraulic oil’s viscosity and resistance force due to friction during deceleration. However, the vibration of the suspended load may increase since the deceleration is rapid. Thus, this study minimizes residual vibration under rapid deceleration. The effectiveness was verified using an experimental device that simulated the characteristics of a commercial crane.