Thesis (MScEng)--University of Stellenbosch, 2003. / ENGLISH ABSTRACT: The aim of this thesis is to investigate the wheel/rail/girder interaction of overhead cranes. Three components of the above mentioned interaction system are considered. • The contact interaction between the crane wheel and the rail and its effects on the rail stresses. • The stress distribution in thin webbed rails and the location of critical stresses in the rail. • The load distribution between the rail foot and the crane girder with the inclusion of elastomeric pads. The steps followed for the purpose of this investigation were: • The creation of a numerical wheel-rail interaction model with the finite element method. • The experimental and analytical verification of the numerical results. • An analysis of the wheel/rail/girder interaction system variables on the basis of the numerical results. The following conclusions were drawn from the investigation: • The variables with the greatest influence on the wheel-rail contact patch shape, size and critical stress are the crane wheel diameter and the railhead curvature radius. • It is the position of the above mentioned contact patch relative to the rail symmetry plane, rather than the wheel-rail contact patch size, shape and critical stress, that has a significant influence on the rail stress distribution as a whole. • Critical stresses in thin webbed rails are found at the web-foot and web-head junctions. • The load distribution between the rail foot and the girder, in case elastomeric pads are included, can be described using the beam on elastic foundation theory. / AFRIKAANSE OPSOMMING: Die doél van hierdie tesis is om die interaksie tussen die wiel, die spoor en die ondersteunende balk van oorhoofse krane te ondersoek. Die klem val op die interaksie van drie komponente van bogenoemde sisteem nl:. • Die kontak: interaksie tussen die kraanwiel en die spoor en die gevolglik effekte op die spanningsverdeling in die spoor. • Die spanningsverdeling in kraanspore met dunwandige webbe en die lokasie van kritieke spannings. • Die spanningsverdeling tussen die onderste spoorflens en die bo-flens van die ondersteunende balk in die geval dat 'n elastomeriese strook tussen bogenoemde flense ingesluit word. Die stappe vir die ondersoek was as volg: • Die skepping van 'n numeriese wiel-spoor interaksie model met die eindige element metode. • Die eksperimentele en analitiese verifikasie van numeriese resultate. • Die analise van die wiel/spoor/ondersteunende balk sisteem veranderlikes gebaseer op numeriese resultate. Die belangrikste resultate van die ondersoek was dat: • Die veranderlikes met die grootste invloed op die grote, vorm en kritieke spannings van die wiel-spoor kontak area is die kraan wiel radius en die radius van die spoor se bo-vlak kromming. Dit is die posisie van bogenoemde kontak area relatieftot die simmetrievlak van die spoor, in plaas van die wiel-spoor kontak area grote, vorm ofkritieke spanning, wat 'n deurslaggewende invloed op die spanningsverdeling in die kraanspoor het. • Kritieke spannings in spore met dunwandige webbe word aan die bokant en onderkant van die spoor web aangetref. • Die spanningsverdeling tussen die onderste spoor flens en die bo flens van die ondersteunende balk kan, in die geval dat 'n elastomeriese strook tussen bogenoemde flense ingesluit word, met die gebruik van balk op elastiese fondament teorie beskryf word.

No description available.

Thesis (MScEng (Civil Engineering))--University of Stellenbosch, 2007. / Research on cranes and crane support structures has been completed at Stellenbosch University’s Structural Division. In order to link the research already completed with that which is practically relevant, an industry related expert survey was proposed. Consequently, the research title is “Best Practice of Crane Support Structures Design – An Expert Survey”. The primary objective of the study is to complete research, which can be used at a later stage to compile a “best practice” guideline for support structures design. The expert survey allows practical experience and opinion to be gathered from experts. The primary drawback being the uncertainty involved in such opinionated research material. For this reason an attempt is made in the thesis to apply a scientific approach, in order to attain rationally defendable results. The survey was conducted using interviews with experienced crane support structure designers and crane manufacturers in South Africa. The experts were then rated according to their answers to seeded questions, the number of colleague recommendations they each received and the years of experience each expert has. The expert opinion was subsequently combined using the expert ratings as weights. To further improve the scientific rationale behind the results, several of the topics mentioned by the experts were verified using related literature - thereby validating the use of the combined expert opinion for this research. The results obtained from the survey and verification process are regarded as useful to the objectives of the study. Information concerning pre-design specifications, loads and actions, structural analysis, design, design details and fatigue was compiled. The direct results are tabulated in an appendix and commentary, based on the expert opinions, is provided. A failure investigation was also completed with less success than initially intended. This was due, in part, to confidentiality issues and a lack of failure information easily accessible to the experts. For this reason the results of the failure investigation focuses more on various failure mechanisms. The success of the survey indicates that expert opinion is a useful tool for research. Furthermore, the minor differences in expert opinion, when compared to information obtained from crane support structure literature, indicates that the expertise in the South African crane support structure design is at an international standard.

Thesis (PhD (Civil Engineering))--University of Stellenbosch, 2005. / Electric overhead travelling bridge cranes are an integral part of many industrial processes, where they are used for moving loads around the industrial area

This thesis investigated a tip-over stability of mobile boom cranes with swinging payloads. Base and crane motion presents a tip-over problem. Attaching complex payloads further complicates the problem. They study began with a single-pendulum payload to analyze a tip-over stability characteristics under different conditions. A simple tip-over prediction model was developed with a goal of limiting a computational cost to a minimum. The stability was characterized by a tip-over stability margin method. The crane's tip-over stability was also represented by the maximum possible payload it can carry throughout the workspace. In a static stability analysis, mobile boom crane was assumed to be stationary, thus with no payload swing. The study provided basic understanding on the relationship between tip-over stability and boom configuration. In a pseudo-dynamic stability analysis, the method incorporated payload swing into the analysis by adding estimated maximum payload swing due to motions. To estimate the angles, differential equations of motions of payload swings were derived. The thesis extended the study to a double-pendulum payload. The maximum swing angles estimated in the single-pendulum case were directly applied to the double-pendulum case. To validate the analytical methods, a full dynamic multi-body simulation model of a mobile boom crane was developed. The predictions from the previous analysis were verified by the simulation results. The prediction model and the analytical methods in the thesis provide a significant tool for practical application of tip-over stability analysis on mobile boom cranes. The experimental results increase the confidence of the study's accuracy.

Boom cranes are one of the most dynamically complicated types of cranes because they possess rotational joints as opposed to the linear tracks of bridge and gantry cranes. In addition, if the boom crane is placed on a mobile base, additional complexity is added to the system. However, mobile boom cranes have huge potential benefits as they can be quickly transported from one location to another. Furthermore, if they utilize their mobile base during lifting operations, then they can have an extremely large workspace. All cranes share the same limiting weakness; the payload oscillates when the crane moves. A command-generation approach is taken to control the payload oscillation. Input shaping is one such command-generation technique that modifies the original reference command by convolving it with a series of impulses. The shaped command produced by the convolution can then move the crane without inducing payload oscillation. Input shaping can accommodate parameter uncertainties, nonlinearities, multiple modes of vibration, and has been shown to be compatible with human operators. This thesis focuses on three aspects of mobile boom cranes: 1) dynamic analysis, 2) input-shaping control, and 3) experimental testing. A majority of the thesis focuses on analyzing and describing the complicated dynamics of mobile boom cranes. Then, various input-shaping controllers are designed and tested, including two-mode shapers for double-pendulum dynamics. In order to experimentally verify the simulation results, a small-scale mobile boom crane has been constructed. The details of the mobile boom crane and its important features are presented and discussed. Details of the software used to control the crane are also presented. Then, several different experimental protocols are introduced and the results presented. In addition, a set of operator performance studies that analyze human operators maneuvering the mobile boom crane through an obstacle course is presented.

Thesis (M. S.)--Mechanical Engineering, Georgia Institute of Technology, 2009. / Committee Chair: Singhose, William; Committee Member: Costello, Mark; Committee Member: Whiteman, Wayne

Thesis (Ph.D.)--Mechanical Engineering, Georgia Institute of Technology, 2009. / Committee Chair: William Singhose; Committee Member: John-Paul Clarke; Committee Member: Kok-Meng Lee; Committee Member: Patricio Vela; Committee Member: Rhett Mayor.

Heavy-lifting machines such as cranes are widely used at ports, construction sites, and manufacturing plants in a variety of material-transporting applications. However, cranes possess inherent flexible dynamics that make fast and precise operation challenging. Most cranes are driven by human operators, which adds another element of complexity. The goal of this thesis is to develop controllers that allow human operators to easily and efficiently control machines with flexible dynamics. To improve the ease of human operation of these machines, various control structures are developed and their effectiveness in aiding the operator are evaluated. Cranes are commonly used to swing wrecking balls that demolish unwanted structures. To aid the operator in such tasks, swing-amplifying controllers are designed and their performance are evaluated through simulations and experiments with real operators. To make maneuvering of these machines in material-transporting operations easier, input-shaping control is used to reduce oscillation induced by operator commands. In the presence of external disturbances, input shaping is combined with a low-authority feedback controller to eliminate unwanted oscillations, while maintaining the human operator as the primary controller of the machine. The performance and robustness of the proposed controllers are thoroughly examined via numerical simulations and a series of experiments and operator studies on a small-scale mobile boom crane and a two-ton dual-hoist bridge crane.

Thesis (MScEng (Civil Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: End stop impact forces are horizontal longitudinal forces imposed by the crane on the end stops. Both the previous South African loading code SABS 0160:1989 and the current South African loading code SANS 10160 , classify end stop impact force as an accidental load case , hence they are not expected to occur within the expected lifetime when the guide lines for crane operation are strictly adhered to. In the estimation of end stop impact force, the previous South African loading code SABS 0160:1989 gives two guidelines for estimating the end stop impact force. The first guideline is simplistic in its approach and it’s based on the assumption that the crane and its supporting structure act as rigid bodies; hence calculation is based on rigid body mechanics. Literature reviewed reveals that this is not correct. The second guideline is more explicit in its approach as it takes into account the crane speed, resilience of the buffers and resilience of the end stops. The current South African loading code, SANS 10160 gives a better representation of the dynamics of the crane movement. However, the dynamic factor recommended for the estimation of end stop impact force is empirical in nature and thus lacks adequate scientific backing. One of the purposes of this research was to investigate the influence of the stiffness of the crane bridge on the end stop impact force. This was achieved by conducting a series of FEA simulations on the double bridge EOHTC fitted with elastomeric buffers. For this set of simulations, the effect of each influencing parameter on the end stop impact force was investigated, and the maximum end stop impact force was obtained using a constraint optimization technique. From the results obtained, comparison was then made with the existing maximum end stop impact force for a single bridge EOHTC fitted with elastomeric buffers. Another purpose of this research was to investigate the end stop impact force for an electric overhead travelling cranes (EOHTC) fitted with hydraulic buffers taking into account the dynamics involved in the movement of the EOHTC. This was achieved by a series of experimental and numerical investigation. The numerical investigation was conducted using an existing numerical model of an EOHTC which captures the crane and its supporting structure as a coupled system. Finite element analysis (FEA) impact force histories obtained were calibrated to the base experimental impact force histories. Thereafter, a series of FEA simulations were conducted by changing the parameters which have a substantial effect on the end stop impact forces. This yielded various maximum impact peaks for various parameters. The maximum impact force was then mathematical obtained from the FEA impact force histories for a given level of reliability using a constraint optimization technique. Also, codified end stop impact forces were calculated for the SABS 0160:1989 and SANS 10160-6:2010. From the results obtained, comparison was made between the codified end stop impact force and the maximum impact force obtained from the constraint optimization technique. / AFRIKAANSE OPSOMMING: Ent buffer impak kragte is horisontale kragte wat deur die kraan op die entbuffers aangewend word. Beide die Suid Afrikaanse las kode SABS 0160:1989 en die voorgestelde Suid Afrikaanse las kode SANS 10160, klasifisseer die entbuffer impak kragte as ‘n ongeluks las geval, dus word die kragte nie verwag tydens die verwagte leeftyd van die kraan wanneer die riglyne van die kraan prosedures streng gevolg word nie. Volgens die Suid-Afrikaanse las kode SABS 0160:1989 word daar twee riglyne voorgestel om die entbuffer kragte te bepaal. Die eerste riglyn is ‘n eenvoudige riglyn en word gebaseer op die aaname dat die kraan en die ondersteunende struktuur as ‘n starre ligame reageer en dus word die kragte bereken deur star ligaam meganika, alhoewel, uit die literatuur word dit bewys as inkorrek. Die tweede riglyn is ‘n meer implisiete benadering aangesien dit die kraan snelheid, elastisiteit van die buffers sowel as die elastisiteit van die end stoppe in ag neem. SANS 10160-6:2019 gee ‘n beter benadering van die dinamiese beweging van die kraan. Die voorgestelde dinamiese faktor waarmee die ent_buffer_kragte bereken word, is empiries van natuur . Een van die doelstellings vir die navorsings projek was om te bepaal wat die invloed van die kraan brug se styfheid op die entbuffer kragte is. ‘n Aantal Eindige Element Analise (FEA) simulasies is uitgevoer op ‘n dubbel brug elektriese aangedrewe oorhoofse kraan met elastomeriese buffers. Van die stel FEA simulasies kan die invloed van elke parameter op die entbuffer impak_kragte bepaal word. Die maksimum entbuffer impak_kragte is bepaal met behulp van ‘n beperking optimiserings tegniek. Vanaf hierdie resultate is ‘n vergelyking gemaak met die bestaande maksimum ent_buffer impak_kragte vir ‘n enkel brug elektriese oorhoofse aangdrewe kraan met elastomeriese buffers. ‘n Tweede doel rede vir die navorsing was om te bepaal wat die ent buffer impak_kragte op ‘n elektriese aangedrewe oorhoofse kraan met hidrouliese buffers is. Dit is bepaal deur ‘n aantal eksperimentele en numeriese toetse uit te voer. Die numeriese toetse is uitgevoer deur gebruik te maak van ‘n huidige numeriese model van ‘n elektriese aangedrewe oorhoofse kraan wat die kraan en die ondersteunende struktuur as ‘n. Die Eindige Element Analise impak_kragte is gekalibreer teen die eksperimenteel bepaalde impak- kragte. Daarna is ‘n reeks Eindige Element Analise simulasies uitgevoer en sodoende die parameters te verander wat die mees beduidende invloed op die end stop impak_kragte het. Dit het verskeie impak_krag pieke vir verskillende parameters meegebring. Die maksimum impak kragte is bepaal van die impak kragte van die Eindige Element Analise vir ‘n gegewe vlak van betroubaarheid deur gebruik te maak van die beperking optimiserings tegniek. Daarmee saam is die gekodifiseerde ent buffer impak kragte bereken volgen SABS 0160:1989 en die SANS 10160- 6:2010. Vanaf hierdie resultate is ‘n vergelyking gemaak tussen die gekodifiseerde entbuffer impak_kragte en die maksimum impak_kragte wat bepaal is deur die (beperking optimiserings tegniek).