Dynamical modelling of boom tower crane rigging systems: model selection for construction

Accurate dynamical models are imperative to the development of accurate monitoring and control systems, which are foundational to safety in construction and infrastructure projects. However, the highly coupled non-linear dynamics of crane systems requires the application of many simplifying assumptions to the dynamical crane model. To achieve accurate control, simplifications should yield minimal error in modelled behaviour for maximal reduction in model complexity. However, limited information is available on the situational suitability of different combinations of simplifications to construction tower crane models. This paper informs designers of the optimal dynamical models to represent boom tower cranes, with respect to the crane characteristics and selection criteria. The optimal models are determined though the comparison of ten 2D and 3D dynamical models in representation of three variations of boom tower crane that are commonly deployed on construction sites. The comparison includes analysis of over 100 simulations and experimentation. The value of the presented optimal model selection framework is in facilitating systems designers to develop accurate crane monitoring and control systems.