Dynamics and Control of Cable-Suspended Payloads

This book provides a thorough overview of the theoretical principles of nonlinear dynamics and vibration control for large, heavy cable-suspended payloads transported by industrial cranes. It addresses the complex swing and twisting phenomena caused by crane movement commands that lead to dangerous vibrations. Structured in two parts, the book systematically explores the theoretical domains of nonlinear dynamics and vibration control. The section on nonlinear dynamics covers dynamic modelling of nonlinear systems, analysis of nonlinear oscillators, approximate solutions, modal analysis of multiple-mode systems, and Lyapunov stability. The vibration control section examines linear control, nonlinear control, intelligent control, input shapers, and command smoothers—all of which are proven effective and robust methods for attenuating vibrations. These frameworks are illustrated through industrial applications involving bridge cranes, tower cranes, boom cranes, quadcopter slung loads, helicopter slung loads, and twin-lift cranes. Due to the complex nonlinear dynamic behavior of cable-suspended payloads, the book addresses significant challenges in dynamic modelling and analysis, providing practical solutions for reducing vibrations. It provides advanced control methods and vibration-reduction solutions for cable-suspended payloads and serves researchers and graduate students working in this field.