Industrial cranes transporting slender payloads in an upright position have been used in several applications. However, the swing of the cable-suspended object may interact with the bending vibrations of the slender payload during motions. The interaction-induced vibrations exhibit complicated dynamical behavior and corrupt the safety and efficiency of the material movement. While significant work has been focused on industrial cranes carrying rigid payloads, little effort has been directed at the payload swing-bending interaction in cable-suspended flexible objects. A dynamic model of industrial cranes carrying upright slender and flexible payloads has been derived. The interaction between the payload swing and payload bending vibrations has been captured in the model. Additionally, a new control method has been developed to suppress the coupled vibrations caused by the payload swing-bending interaction. Theoretical and experimental investigations demonstrate that both the modeling and control methods are effective.

中文翻译：

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运输直立细长柔性有效载荷的工业起重机的动态建模和振动控制


以直立位置运输细长有效负载的工业起重机已用于多种应用。然而，电缆悬挂物体的摆动可能会与细长有效负载在运动过程中的弯曲振动相互作用。相互作用引起的振动表现出复杂的动力学行为，并破坏材料运动的安全性和效率。虽然重要的工作集中在承载刚性有效负载的工业起重机上，但很少有人致力于电缆悬挂的柔性物体中的有效负载摆动-弯曲相互作用。推导了承载直立细长且灵活有效负载的工业起重机的动态模型。模型中已捕获有效负载摆动和有效负载弯曲振动之间的相互作用。此外，还开发了一种新的控制方法来抑制有效负载摆动-弯曲相互作用引起的耦合振动。理论和实验研究表明建模和控制方法都是有效的。