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Advances in Industrial Control

Keum-Shik Hong
Umer Hameed Shah

Dynamics
and Control
of Industrial
Cranes
Advances in Industrial Control

Series Editors
Michael J. Grimble, Department of Electronic and Electrical Engineering,
University of Strathclyde, Glasgow, UK
Antonella Ferrara, Department of Electrical, Computer and Biomedical
Engineering, University of Pavia, Pavia, Italy

Advisory Editor
Sebastian Engell, Technische Universität Dortmund, Dortmund, Germany

Editorial Board
Graham C. Goodwin, School of Electrical Engineering and Computer Science,
University of Newcastle, Callaghan, NSW, Australia
Thomas J. Harris, Department of Chemical Engineering, Queen’s University,
Kingston, ON, Canada
Tong Heng Lee, Department of Electrical and Computer Engineering, National
University of Singapore, Singapore, Singapore
Om P. Malik, Schulich School of Engineering, University of Calgary, Calgary, AB,
Canada
Gustaf Olsson, Industrial Electrical Engineering and Automation, Lund Institute of
Technology, Lund, Sweden
Ikuo Yamamoto, Graduate School of Engineering, University of Nagasaki,
Nagasaki, Japan

Editorial Advisors
Kim-Fung Man, City University Hong Kong, Kowloon, Hong Kong
Asok Ray, Pennsylvania State University, University Park, PA, USA
Advances in Industrial Control is a series of monographs and contributed titles
focusing on the applications of advanced and novel control methods within applied
settings. This series has worldwide distribution to engineers, researchers and
libraries.
The series promotes the exchange of information between academia and industry,
to which end the books all demonstrate some theoretical aspect of an advanced or
new control method and show how it can be applied either in a pilot plant or in
some real industrial situation. The books are distinguished by the combination
of the type of theory used and the type of application exemplified. Note that
“industrial” here has a very broad interpretation; it applies not merely to the
processes employed in industrial plants but to systems such as avionics and
automotive brakes and drivetrain. This series complements the theoretical and more
mathematical approach of Communications and Control Engineering.
Indexed by SCOPUS and Engineering Index.

Series Editors
Professor Michael J. Grimble
Department of Electronic and Electrical Engineering, Royal College Building, 204
George Street, Glasgow G1 1XW, United Kingdom
e-mail: [email protected]

Professor Antonella Ferrara

Department of Electrical, Computer and Biomedical Engineering, University of
Pavia, Via Ferrata 1, 27100 Pavia, Italy
e-mail: [email protected]
or the

In-house Editor
Mr. Oliver Jackson
Springer London, 4 Crinan Street, London, N1 9XW, United Kingdom
e-mail: [email protected]

Publishing Ethics
Researchers should conduct their research from research proposal to publication in
line with best practices and codes of conduct of relevant professional bodies and/or
national and international regulatory bodies. For more details on individual ethics
matters please see:
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desk/publishing-ethics/14214

More information about this series at http://www.springer.com/series/1412

Keum-Shik Hong Umer Hameed Shah
•

Dynamics and Control

of Industrial Cranes

123
Keum-Shik Hong Umer Hameed Shah
School of Mechanical Engineering School of Mechanical Engineering
Pusan National University Pusan National University
Busan, Korea (Republic of) Busan, Korea (Republic of)

ISSN 1430-9491 ISSN 2193-1577 (electronic)

Advances in Industrial Control
ISBN 978-981-13-5769-5 ISBN 978-981-13-5770-1 (eBook)
https://doi.org/10.1007/978-981-13-5770-1

Library of Congress Control Number: 2018965912

© Springer Nature Singapore Pte Ltd. 2019

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar
methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publication does not imply, even in the absence of a specific statement, that such names are exempt from
the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authors or the editors give a warranty, express or implied, with respect to the material contained herein or
for any errors or omissions that may have been made. The publisher remains neutral with regard to
jurisdictional claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd.
The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,
Singapore
Series Editor’s Foreword

The aim of the series Advances in Industrial Control is to fill the gap between
theoretical research and practical applications in the area of control engineering,
contributing to the transition into practice of the most advanced control results, and
bearing in mind significant recent developments of control technology. It also
promotes the dissemination of knowledge related to modern control solutions in all
sectors of industrial control, making it usable even by readers who are not experts in
the specific application field. This is particularly important for the less well-known
areas of industrial control, since any area presents interesting control problems and
challenges and may provide insights and suggestions for control solutions possibly
useful in other areas as well.
This is, for instance, the case for the present monograph. It focuses on industrial
cranes. An industrial crane is a material-handling machine widely used in different
contexts for construction and freight handling. For decades, cranes have played a
crucial role in ports, offshore, in underwater activities, and in manufacturing. Yet, in
recent years, they have become more and more important because of the rapid
growth of logistics and of the associated industrial activities. For instance, loading
and discharging operations on container vessels are performed with cranes. The
working pace of cranes, known as the cranes’ “productivity”, as well as their safety
can be significantly improved by developing efficient automatic control strategies.
Controlling an industrial crane is an extremely complicated task, so that the role
of advanced control is actually of paramount importance in improving the perfor-
mance while guaranteeing safety even in hostile environments, subject to bad
weather, strong winds, or high waves.
This book addresses the subject starting from a classification of cranes mainly
based on their dynamic properties and on the coordinate systems used to describe
the location of the rope-suspension point. Then, it presents the mathematical models
of the different crane systems used in industry and arrives at a discussion of con-
ventional and more advanced control strategies. The models considered are of
different nature: from lumped mass models, which do not consider the deflections
within the individual parts of the crane, to distributed parameter models expressed
by partial differential equations, and the combination of the two kinds of models.

v
vi Series Editor’s Foreword

The control approaches illustrated include open-loop control schemes, largely

applied for simple crane operations in controlled environments, and feedback
control schemes of linear, nonlinear, and hybrid type, more appropriate for oper-
ations in environments where external disturbances such as wind, sea currents, and
waves can have a severe impact on the controlled crane dynamics. In the feedback
control schemes discussed, the controlled variables are the sway angle of the
payload and the position/velocity of the crane support mechanism (i.e., the trolley,
bridge, boom, etc.), while the control inputs are typically the forces or torques
applied to the support mechanisms themselves so as to achieve both payload sway
suppression and position control of the entire crane.
The book also identifies several open problems in industrial crane control,
specifically in the case of cranes with multi-rope hoisting mechanisms, underwater
applications of gantry cranes, telescopic boom cranes, and offshore crane systems.
This new monograph contributes to enrich the series Advances in Industrial
Control with a new volume full of photographs, schematics, and references, a
volume that has the merit of treating a complex subject of great industrial interest in
an easily understandable way. I am therefore sure that readers will find this book
truly useful to face and solve the main problems related to the use of cranes in the
industrial field.

Pavia, Italy Antonella Ferrara

University of Pavia
Preface

This book discusses the development of mathematical models and control strategies
for industrial cranes. First, a detailed discussion on the different crane systems being
used in the industry is presented. Then, the mathematical models for every crane
system are explained. Both the lumped mass and distributed parameter formulations
of crane systems are discussed. The lumped mass models (LMMs) are derived by
assuming that the crane system consists of rigid subsystems (i.e., hoisting and
support mechanisms), where the equations of motion are represented by ordinary
differential equations (ODEs). Such models do not consider the deflections within
the components of the crane. In contrast, the distributed parameter models are more
realistic and consider the deflections within the components, for example, in the
hoisting cable and the structure of the crane. Such distributed parameter models are
represented by partial differential equations (PDEs) or a combination of both ODEs
and PDEs. Further, control strategies applicable to crane systems, which include
open-loop control, feedback control, and hybrid control strategies, are discussed.
Then, conclusions on the best modeling practices and the most suitable control
strategies for different crane systems are drawn. Finally, future research directions
are proposed for the advancement of crane control technology.
This book comprises eight chapters. Chapter 1 provides an introduction to crane
systems, which discusses the construction and operation of different types of crane
systems. Applications of such crane systems to the industry are also discussed.
Subsequently, Chaps. 2–5 present the mathematical modeling of all crane systems
introduced in Chap. 1.
Chapter 2 discusses the mathematical modeling of gantry crane systems as
lumped mass systems. Different configurations of gantry crane systems are mod-
eled, for example, gantry cranes with a single-rope hoisting mechanism, gantry
cranes with multiple hoisting ropes, gantry cranes with the hoisting mechanism
modeled as a double pendulum, and gantry cranes used for underwater applications.
Chapter 3 presents the LMMs of rotary crane systems, which include the mathe-
matical models of tower cranes and different configurations of boom cranes.
Chapter 4 covers in detail the LMMs of mobile cranes, which include
truck-mounted cranes, ship-mounted boom cranes, and mobile harbor systems.

vii
viii Preface

Chapter 5 discusses the mathematical modeling of crane systems in the distributed

parameter setting, where the hoisting mechanism is considered flexible. The dis-
cussed formulations consist of overhead crane systems with a flexible hoisting rope,
flexible hoisting mechanisms modeled as a double pendulum and as an axially
moving system (i.e., for modeling the hoisting motion of the rope), an offshore
crane system for subsea installation, and lastly the nuclear refueling machine (RM).
Chapters 6 and 7 cover the control development of crane systems: In Chap. 6,
open-loop control schemes, which include the optimal control and input shaping
methods, are discussed. In Chap. 7, feedback control schemes, which include linear
feedback control methods, nonlinear control methods including time delay control,
state feedback control, sliding mode control, and fuzzy control, are discussed.
Moreover, hybrid control schemes, which include the combination of different
control schemes for achieving enhanced control performances, are discussed.
Finally, feedback control schemes for crane systems modeled as distributed
parameter systems are discussed.
In Chap. 8, conclusions are drawn based on the discussions in Chaps. 1–7.
Moreover, future research directions are also proposed to help researchers con-
tribute to the advancement of the field of dynamics and control of crane systems.

Busan, Korea (Republic of) Keum-Shik Hong

Umer Hameed Shah
Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Gantry Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.1 Overhead Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.2 Container Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Rotary Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.1 Boom Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2.2 Tower Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 Mobile Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Lumped Mass Models of Gantry Cranes . . . . . . . . . . . . . . . . . . . . . 11
2.1 Single-Rope Hoisting Models . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.2 Multi-rope Hoisting Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.3 Double-Pendulum Crane Models . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4 Underwater Load Transportation . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.5 Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3 Lumped Mass Models of Rotary Cranes . . . . . . . . . . . . . . . . . . . . . . 35
3.1 Tower Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.2 Boom Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.3 Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4 Lumped Mass Models of Mobile Cranes . . . . . . . . . . . . . . . . . . . . . . 49
4.1 Truck-Mounted Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.2 Ship-Mounted Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.2.1 Ship-Mounted Boom Cranes . . . . . . . . . . . . . . . . . . . . . . 54
4.2.2 Mobile Harbor System . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

ix
x Contents

4.3 Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.3.1 Simulation Code for MH System Dynamics . . . . . . . . . . . 62
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
5 Distributed Parameter Models . . . . . . . . . . . . . . . . . . . . . . . . . . ... 67
5.1 Crane Systems Operating in Air . . . . . . . . . . . . . . . . . . . . . . ... 67
5.1.1 Two-Dimensional Overhead Crane with Flexible
Hoisting Rope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.1.2 Overhead Crane as Flexible Double-Pendulum System . . . 70
5.1.3 Overhead Crane as Axially Moving System . . . . . . . . . . . 73
5.2 Underwater Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.2.1 Offshore Crane for Subsea Installation . . . . . . . . . . . . . . . 75
5.2.2 Nuclear RM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
5.3 Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
5.3.1 MATLAB Code for the Underwater Responses
of the RM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 81
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... 86
6 Open-Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
6.1 Optimal Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
6.1.1 Bang–Bang and Bang–Offbang Trajectories . . . . . . . . . . . 96
6.1.2 Time-Optimal Control Considering Load Hoisting . . . . . . . 98
6.2 Input Shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.2.1 Input Shaping for Underwater Systems . . . . . . . . . . . . . . . 106
6.3 Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7 Feedback Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
7.1 Linear Feedback Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
7.2 Nonlinear Feedback Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
7.2.1 Delayed Feedback Control . . . . . . . . . . . . . . . . . . . . . . . . 120
7.2.2 Sliding Mode Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
7.2.3 Intelligent Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
7.3 Hybrid Control Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.4 Feedback Control Application to Distributed Parameter
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
7.4.1 Boundary Control of Refueling Machine . . . . . . . . . . . . . . 130
7.5 Simulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
7.5.1 MATLAB Code for Boundary Control
of the RM System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
8 Conclusions and Future Research Directions . . . . . . . . . . . . . . . . . . 143
8.1 Future Research Directions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Contents xi

Appendix A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Appendix B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Appendix C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Appendix D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Appendix E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Appendix F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Appendix G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Appendix H . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Appendix I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Appendix J . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Abbreviations

2D Two-dimensional
3D Three-dimensional
CG Center of gravity
DOF Degrees of freedom
LMM Lumped mass model
MFA Master fuel assembly
NB Negative big
NM Negative medium
NS Negative small
ODE Ordinary differential equation
PB Positive big
PD Proportional derivative
PDE Partial differential equation
PM Positive medium
PS Positive small
RM Refueling machine
SMC Sliding mode control
UW Underwater
VIV Vortex-induced vibrations
ZR Zero (in fuzzy logic tables)
ZV Zero vibration
ZVD Zero vibration and derivative
ZVDir Directional ZV

xiii
Symbols

A Amplitude of the oscillation of the payload

Ac Area of the cross section of a hydraulic cylinder
A1, A2, A3 Magnitude of impulses in input shapers
Ap Projected frontal area of the rod
~a ~a = (st – ss)/ss
a Constant acceleration
aC Absolute acceleration of the center of gravity of a vehicle
aC,Cor Coriolis acceleration component of aC
aC,rel Relative acceleration component of aC
aC,tran Translational acceleration component of aC
am Absolute acceleration of the payload
am,Cor Coriolis acceleration component of am
am,rel Relative acceleration component of am
am,tran Translational acceleration component of am
amax Maximum acceleration
a 1, a 2, a 3, a 4 Magnitudes of acceleration inputs in the underwater shaper
B Input matrix
B1, B2 Magnitude of impulses in radial input shaper
b 1, b 2, b 3, b 4 Constants in the equation of x ~n
C Coriolis (or centrifugal) matrix
C Component of percentage vibration
Ca Added mass coefficient
Cd Drag coefficient
Cl Lift coefficient
Cm Inertial coefficient
c, cc, cl, cr, cs, cv Viscous damping coefficients
c x , c y , c z , c a, c / Viscous damping coefficients
chs, c/,x, c/,y Viscous damping coefficients
c 1, c 2, c 3 Constants in co-state equation

xv
xvi Symbols

D Damping matrix
D Rayleigh’s dissipation function
d Diameter of the rod
E Young’s modulus
EA Axial stiffness
EK Kinetic energy
EP Potential energy
e0 Offset of the base of the boom from the origin
eh Horizontal offset of the base of the boom from iv jv kv
ev Vertical offset of the base of the boom from iv jv kv
ey , ez Position errors of the bridge and the trolley
F Control input vector
F Control input
Fb Control input to the bridge
Fh Control input to the hoist motor
Ft Control input to the trolley
Fv Control input to the vessel
fa Added mass force
fb Buoyancy force
fD Drag force
fD,y, fD,z Component of fD along the j and k axes
fI Inline hydrodynamic force
fI,y, fI,z Components of fI along the j and k axes
fm,x, fm,y, fm,z Forces acting on the CG of the payload
fN Normal hydrodynamic force
fN,y, fN,z Components of fN along the j and k axes
fw Wind-induced force
G Gravitational force
Gb Transfer function of the bridge
Gps(s) Closed-loop transfer function of the position servo system
Gvc Transfer function of the velocity controller
Gvs Transfer function of the velocity servo system
G/(s) Transfer function representing the sway dynamics
G/s(s) Transfer function of the controller for suppressing sway
g Gravitational acceleration
H Hamiltonian
h Height of the crane/boom
I Area moment of inertia
i Unit vector along the i-axis
ib A local unit vector affixed to the boom
iP A local unit vector affixed to the tip of the boom
it A local unit vector affixed to the trolley
iv A local unit vector affixed to the CG of a vehicle/vessel
Symbols xvii

J Cost function/performance index

Jb Mass moment of inertia of the bridge-drive motor
JC Mass moment of inertia of the ship-crane system
Jh Mass moment of inertia of the hoist motor
Jl,b Mass moment of inertia of the boom
Jl,j Mass moment of inertia of the jib
Js Mass moment of inertia of a rotary crane about the vertical
axis
j Unit vector along the j-axis
jb A local unit vector affixed to the boom
jP A local unit vector affixed to the tip of the boom
jt A local unit vector affixed to the trolley
jv A local unit vector affixed to the CG of the vehicle/vessel
pffiffiffiffiffiffiffi2ffi
K K ¼ efp= 1f
Kl A variable related to the hoisting rope
KI, KP, Kv Control gains
K/, Ky, Kz Control gains
K1, K2 Design constants
k Unit vector along the k-axis
kb A local unit vector affixed to the boom
kP A local unit vector affixed to the tip of the boom
kP Spring constant at joint P
kt A local unit vector affixed to the trolley
kv A local unit vector affixed to the CG of the vehicle/vessel
ky A crane-dependent design constant
L Lagrangian
l Length of the hoist cable
lave Averaged length
lb Length of the boom
lc Length of the cylinder
lcb Distance between the CG of the boom and P0
lcj Distance between the CG of the jib and P
lj Length of the jib
l1 Hoisting rope length connecting the hook and the bridge
l2 Distance between CGs of the hook and the payload
M Mass matrix
MC Moment of the vessel about the CG
MC,x, MC,y, MC,z Components of MC
m Mass of the payload
ma Added mass
mb Mass of the bridge
mbm Mass of the boom
mbc Mass of a crane’s lower body/machine
xviii Symbols

mb1 Mass of the first boom in a telescopic boom crane

mb2 Mass of the second boom in a telescopic boom crane
mj Mass of the jib
mmc Mass of the mobile crane (vehicle + crane)
mmb Mass of the bridge-drive motor
mmh Mass of the hoist motor
mr Mass of the rod
mt Mass of the trolley
mv Mass of the vessel/vehicle
mx, my, mz Masses along the i, j, and k axes of a 3D crane
m1 Mass of the hook (in a double-pendulum system)
m2 Mass of the payload (in a double-pendulum system)
~
m ~ = mr + ma
m
P Tip point of the boom
P0 Pivot point of the boom
p Pressure in the hydraulic cylinder
Q 1, Q 2, Q 3 Generalized forces
qi Generalized coordinates
~
R Starting radial position of the trolley
Ri Reaction force on the vehicle
r Projected length of the hoisting rope(s) on the jk-plane
rb Radius of the bridge-drive motor
rg Radius of gyration of the container-spreader system
rh Radius of the hoist motor
rv Position vector of the vessel in the inertial frame ijk
S Component of percentage vibration
St Strouhal number
s Sliding surface
sb1, sb2 Position vectors of two boom members
sC Position vector of the crane body
sm Position vector of the payload in the inertial frame ijk
sm,x, sm,y, sm,z Components of the position vector in the i, j, and k axes
sRi Position vector to the point where reaction force Ri occurs
ss Distance between the cable-attachment points
st Distance between the cable-suspension points
st Position vector representing the CG of a truck
T Tension in the hoisting rope
T Tension vector
t Time
ta ta ¼ vmax =amax
tc Traveling time (coast period)
td Period of a damped oscillation
tf Final time
Symbols xix

tr Rise time
tup Time for one complete cycle of an oscillation
t0 Initial time
t1, t2,…,t4 Time instances at which impulses are applied
u Inline deflection along the j-axis
u u ¼ yðtÞ þ uðx; tÞ
us Unit step input
uss Steady-state inline deflection
V Percentage vibration
V(s) Laplace transform of velocity v
Vr Volume of the rod submerged in water
Vr(s) Laplace transform of the reference velocity to the bridge
vh Hoisting speed of the payload
vmax Maximum velocity
vm,rel Velocity of the payload relative to iv jv kv
vr Velocity of the rod
v 1, v 2 Velocity vectors
vXx , vXy , vXz Components of the radial velocity
vbl , vbs Components of the slewing velocity
W Weight
Wm Weight of the payload
w Transverse deflection along the k-axis
x Spatial coordinate along the i-axis (+ dir.: hoisting down)
xm Coordinate of the payload along the i-axis
xvm Coordinate of the payload along the iv-axis
xP Coordinate of the tip of the boom along the i-axis
xv Surge motion of the vessel
xvP Coordinate of the tip of the boom along the iv-axis
Y(s) Laplace transform of the displacement of the bridge
Yr(s) Laplace transform of the moving reference position
y Displacement of the bridge along the j-axis
yf Target position of the bridge
y_ max Maximum velocity of the bridge
ym Coordinate of the payload along the j-axis
yvm Coordinate of the payload along the jv-axis
yP Coordinate of the tip of the boom along the jv-axis
yref Reference trajectory of the suspension point
ytravel Distance of the bridge during acceleration command
yv Sway motion of the vessel
yvP Coordinate of the tip of the boom along the jv-axis
z Coordinate of the trolley along the k-axis
zm Coordinate of the payload along the k-axis
zvm Coordinate of the payload along the kv-axis
xx Symbols

zP Coordinate of the tip of the boom along the k-axis

zref Reference trajectory of the suspension point
zt-b Trolley position relative to the CG of the bridge
zv Heave motion of the vessel
zvP Coordinate of the tip of the boom along the kv-axis
a Angle between r and the bridge axis
a1, a 2 Constants in the equation of the lift coefficient
bl Luff angle
bl,b Luff angle of the boom in a boom-jib crane
bl,j Luff angle of the jib in a boom-jib crane
bs Slew angle
c1 , c2 Magnitudes of inputs in the radial input shaper
d Maximum allowable deflection
e Angular acceleration
n Bridge acceleration divided by a2
~n Interval of the input in the bang–bang control
g Axial deflection of the hoist rope
~g Interval of the input in the bang–bang control
hb Angular displacement of the bridge-drive motor
hd hd ¼ tan1 ðf=xd Þ
hh Angular displacement of the hoist motor
hs Rotational angle of the spreader about the i-axis
hv,x, hv,y, hv,z Rotational angles of the vehicle about the i, j, and k axes
k Inverse of the wave speed
l A constant related to the hoisting of two-rope mechanism
f Damping coefficient
q Mass per unit length of the hoisting rope
qw Water density
sb Torque of the bridge-drive motor
sh Torque of the hoist motor
ss Torque of the slew motor
sl Torque of the luff motor
sy , sz Time delays
/ Sway angle between the hoisting rope and the i-axis
/x, /y, /z Components of /
/1 Sway angle of the hook (double pendulum)
/2 Sway angle of the payload (double pendulum)
v Co-state variable
w Phase angle
W A constituent function of the performance index J
x Natural frequency
xd Damped natural frequency
Symbols xxi

xn Natural frequency of a double-pendulum system

~n
x Approximation of xn
^t
x Angular velocity of the tower
xv Vortex-shedding frequency
x0 Nominal value of the natural frequency
# A function in the state equation, q_ ¼ #ðq; FÞ
u Angle between the projections of the pendulum and the boom
on the ij-plane
C Transformation matrix
PC Angular momentum about C
X Angular velocity of the payload
Xx , Xy , Xz Components of X along the i, j, and k axes
Chapter 1
Introduction

Cranes are material handling machines, which are used in different industries (i.e.,
construction, manufacturing, shipbuilding, and freight handling) for transporting
heavy materials that humans cannot handle. Cranes have the capability of moving
the load vertically (i.e., lifting up and lowering) and also in a horizontal plane, either
along a straight or a curved path. In order to meet the requirements of handling a
specific load in various industries, cranes with different operating mechanisms are
utilized. For lifting a load, a hoisting mechanism is used, which consists of either
a single or a set of multiple ropes suspended from the support mechanism of the
crane. A gripper or a hook at the bottom free end of the rope(s) grasps the load, while
an actuator/motor located at the top rope support mechanism hoists up and down
the load by using a system of sheaves. The support mechanism moves the point of
suspension within the workspace of the crane (Abdel-Rahman et al. 2003).
Cranes come in various sizes and designs to perform different material handling
tasks in land, sea (offshore), and underwater. Depending on the dynamic properties
of cranes and the coordinate systems that can describe the location of the rope sus-
pension point most naturally, cranes are classified as gantry crane and rotary crane.
Gantry cranes can be further classified into overhead cranes (see Figs. 1.1 and 1.2)
and container cranes (see Fig. 1.3) (Mizumoto et al. 2007; Ebrahimi et al. 2011;
Chang and Lie 2012; Liu et al. 2012; Sun and Fang 2012; Boschetti et al. 2014;
Tomczyk et al. 2014). On the other hand, rotary cranes can be classified into boom
cranes (see Figs. 1.4, 1.5 and 1.6) and tower cranes (see Fig. 1.7). In most cases, the
base of a crane is fixed to the ground. Such a crane system, known as a fixed crane,
has a restricted workspace. However, in other cases, to enhance the mobility of cranes
for conducting operations in the field, for example, on a seaport, at a construction
site, or in the sea, cranes are mounted on mobile platforms such as trucks, crawlers,
and ships. Such crane systems are termed mobile cranes (see Figs. 1.8, 1.9 and 1.10).
In the following sections, a detailed description of such systems is presented.

© Springer Nature Singapore Pte Ltd. 2019 1

K.-S. Hong and U. H. Shah, Dynamics and Control of Industrial Cranes,
Advances in Industrial Control, https://doi.org/10.1007/978-981-13-5770-1_1
2 1 Introduction

Fig. 1.1 Overhead crane: a an overhead crane operating inside a factory (https://www.
convergencetraining.com/overhead-crane-operational-safety.html) and b schematic of an overhead
crane

Fig. 1.2 Nuclear refueling machine (RM) (a type of overhead crane): a a nuclear RM transporting a
fuel rod in a nuclear reactor (http://www.nucleartourist.com/operation/refuel1.htm) and b schematic
of the refueling process (Shah and Hong 2014)

Fig. 1.3 Container crane: a container cranes loading/unloading a container ship at a sea-
port (http://www.cranestodaymagazine.com/features/china-service//image/china-service-180078.
html) and b schematic of a container crane
1 Introduction 3

Fig. 1.4 Single-boom crane: a a boom crane operating at a construction site (http://dt-machinery.
com/product/0-5ton-20t-single-boom-electric-hydraulic-marine-ship-deck-cranes-supplier) and
b schematic of a boom crane

Fig. 1.5 Knuckle boom crane: a a knuckle boom crane operating at a construction site (http://www.
protea.pl/what-we-offer/pedestal-cranes/knuckle-boom and b schematic of a knuckle boom crane

Fig. 1.6 Telescopic boom crane: a a telescopic boom crane operating at a seaport (https://
www.maxtechcorp.com/products/marine-solutions/ship-deck-crane/telescopic-boom-crane/) and
b schematic of a telescopic boom crane
4 1 Introduction

Fig. 1.7 Tower crane: a tower cranes during construction of high-rise buildings (http://jaso.com/
tower/en-us/cranes/) and b schematic of a tower crane

Fig. 1.8 Truck-mounted boom crane: a a telescopic crane mounted on a truck (https://
cranenetwork.com/crane/boom-truck-cranes/unic/ur1504/212753) and b schematic of a truck-
mounted telescopic boom crane

Fig. 1.9 Ship-mounted boom crane: a boom cranes mounted on an offshore vessel for subsea oil
field installation (https://technopow.com/2017/09/21/offshore-crane-market/) and b schematic of a
ship-mounted crane
1.1 Gantry Cranes 5

Fig. 1.10 Mobile harbor system: a a mobile harbor system unloading containers from a mega
container ship (mother ship) in an open sea (Ngo and Hong 2009) and b schematic of a mobile
harbor system

1.1 Gantry Cranes

1.1.1 Overhead Cranes

Figure 1.1b illustrates a simple schematic of an overhead crane. The support mech-
anism of the overhead crane consists of a bridge and a trolley, where the bridge runs
on the fixed rails and the trolley traverses along the bridge. The trolley also acts as
the suspension point of the payload, which is suspended using the hoisting rope. The
length of the hoisting rope can be changed, for lifting or lowering the load, using a
motor mounted between the interface of the hoisting rope and the suspension point.
In actual systems (see Fig. 1.1a), the hoisting mechanism may consist of multiple
ropes and a hook connecting the payload to the free end of the hoisting rope(s). An
overhead crane can move a load to the desired locations by utilizing the planar move-
ments of the bridge and trolley (i.e., in the two-dimensional (2D) space) and hoisting
of the payload. The transportation of the load using an overhead crane can induce
large oscillations of the payload in the three-dimensional (3D) space because of the
coupling between the movements of the bridge, trolley, and payload (Fang et al. 2003;
Lee 2005; Lee et al. 2014). The overhead crane is a simple system that is mostly
used for material handling inside manufacturing plants, ship-building factories, and
nuclear power plants (see Fig. 1.2). In nuclear power plants, the overhead crane is
used for transporting fuel rods within the nuclear reactor (i.e., from the fuel upender
to the reactor core and vice versa) during the refueling process (see Fig. 1.2b). Such
a crane system, called the refueling machine (RM), transports fuel rods underwater
to avoid the escape of radiation from the fuel rods to the environment.
6 1 Introduction

1.1.2 Container Cranes

Container cranes are also called quay cranes. They are used at a container terminal
for loading and unloading the containers to/from the container ship anchored at the
seaport (Augustin and Maurer 2001; Bartolini et al. 2003; Ngo and Hong 2009;
Zrnic et al. 2010; Azeloglu et al. 2013; Kreuzer et al. 2014; Arena et al. 2015;
Azeloglu and Sagirli 2015). Figure 1.3b depicts a schematic of a container crane,
which shows that the supporting structure (or frame) can traverse the length of a quay
along the rail tracks on the ground. At the top, the frame supports another rail along
the cantilever beam structure on which the trolley can move. Usually, four hoisting
ropes are suspended from the trolley, which have a gripper at the free end, which
is used for gripping the container(s). Container cranes utilize the movements of the
frame and the trolley and the hoisting of the payload to transport containers to and
from between the container ship and trucks.

1.2 Rotary Cranes

1.2.1 Boom Cranes

Figure 1.4b depicts the schematic of a single-boom crane (Abdel-Rahman and Nayfeh
2002; Sun and Liu 2006; Schaper et al. 2014). It is shown that the base of the tower
is fixed to the ground and there is a boom (i.e., a cantilever beam) of fixed length at
the top of the tower.
At the point of connection between the boom and the tower, the boom can rotate
about the vertical axis of the tower (i.e., the slew movement) and also can rotate in the
vertical plane consisting of the vertical axis of the tower and the axis parallel to the
boom (i.e., the luff movement). From the free end of the boom, a payload is suspended
using a hoisting rope. The length of the hoisting rope can be changed using an actuator
mounted at the suspension point. A boom crane can manipulate the load in the 3D
space using the luff and slew movements of the boom and hoisting of the payload.
Such cranes are commonly used in construction sites (see Fig. 1.4a). Boom cranes
can also have more than one boom. One variation of the boom crane has an auxiliary
jib connected to the boom with a flexible joint to enhance the maneuverability (i.e., by
addition of a degree of freedom (DOF)) and the workspace of the crane system. Such
boom cranes are also called knuckle boom cranes (see Fig. 1.5). Another variation of
the boom crane is the telescopic boom crane that is shown in Fig. 1.6, which consists
of two or more boom members, where the members can slide in or out of each other
in order to change the overall length of the boom (Sagirli et al. 2003a, b; Cekus and
Posiadala 2011).
 Another Random Document on
Scribd Without Any Related Topics
 26 History of Clarion County. River, where Chief Jacobs had
one of the largest towns in the State. At dawn on the morning of the
7th of September Colonel Armstrong surprised the Indians, killed
Jacobs and most of his followers, and captured arms, powder, and
valuable goods which had been distributed to them only the day
before by the French. The campaign of 1757 was disastrous to the
English, but in 1758 General Abercrombie was given chief command.
Wolf and Amherst were directed to operate against Louisburg and
the posts on the lakes, and General Forbes was sent against Fort Du
Quesne. With a detachment of royal troops and militia from
Pennsylvania and Virginia, under command of Colonels Bouquet and
Washington, he set out in July, 1758. Arriving in front of the fort a
sharp battle was fought, in which the French were routed and the
fort was surrendered to the victors. All the expeditions against the
French being successful this year, the war was brought to a close,
and the French possessions in America were ceded to Great Britain
by the peace declared in 1762. In October, 1759, James Hamilton
was again appointed governor. George II died the same month of
the following year, and was succeeded by his grandson, George III.
Pontiac's War occurred in 1763, when the Indians of the West
entered into a secret league, and in the month of May fell upon the
forts held by the colonists. Nine posts, including Presque Isle, Le
Boeuf, and Venango, fell into their hands, and their garrisons put to
the slaughter. Only three. Fort Pitt (Du Quesne), Niagara, and
Detroit, were able to hold out. The last named post was besieged by
Pontiac in person from May until October. The Pennsylvania settlers
were driven back to the line of the Susquehanna. Colonel Armstrong
led a force into the Indian country to punish them, and relieved Fort
Pitt, routing the Indians with slaughter.
 Pennsylvania. 27 CHAPTER II. FKOM THE REVOLUTION TO
THE PRESENT TIME. Mason and Dixon — Indian Troubles — Stamp
Act — Connecticut and Virginia Claims — First Continental Congress
— Second Continental Congress— Declaration of Independence —
New Constitution for Pennsylvania — Retirement of Governor Penn
anrl the Proprietary Assembly — Evacuation of Boston — Attack on
Charleston — British take New^ York — Battle of Trenton —
Princeton — Assembly of the New Legislature — Brandy wine — The
British Occupy Philadelphia— Attack on Fort Mercer — Battle of
Germantown — Valley Forge— Aid from France — Evacuation of
Philadelphia — Battle of Monmouth — Abolition of Slavery in
Pennsylvania— Wyoming Massacre — Overtures of Peace — Mutiny
of the Pennsylvania Line — Disaster of Colonel Crawford — Peace —
Revolt of Pennsylvania Troops — Treaty of Fort Stanwix —
Constitution of United States Framed and Adopted — New
Constitution for State Whisky Insurrection — War of 1812 — Coal —
Public Schools — Revision of Constitution — Buckshot War —
Mexican War — Sale of Public Works— Petroleum and Gas —
Secession — Invasion of Pennsylvania — Battle of Gettysburg —
Burning of Chambersburg — Soldiers' Orphan Schools — Revision of
the Constitution — Centennial Exposition — Riots of 1877 — Extra
Session of the Legislature. THE boundary line between Pennsylvania
and Maryland had been a source of vexation between the two
proprietaries for many years. Charles Mason and Jeremiah Dixon,
two able mathematicians and surveyors, were appointed by the
proprietors to survey the line. They arrived in Philadelphia in
November, 1763, carrying with them the most perfect instruments
then known to science, and at once entered upon their work. After
about three years' labor they had reached a point 244 miles from the
Delaware, and within thirtysix miles of the western limit of the State,
when the Six Nations gave notice that the survey should proceed no
farther. So the party returned to Philadelphia. The remainder of the
line was finished in 1782-84 by other surveyors. From the fact that
this was subsequently the mark of division between the free and
slave States, Mason and Dixon's line became familiar in American
politics. John Penn, grandson of the founder, had come to the colony
in 1753, and, having acted as president of the Council, was in 1763
commissioned governor in place of Hamilton. Indian barbarities still
continuing along the frontier, Governor Penn sent Colonel Bouquet
against them. Bouquet marched his Pennsylvanians as far as the
Muskingum and compelled the Indians to sue for peace and to give
up all the English captives who had been carried away during the
years of trouble. The Stamp Act was passed by the British
ParHament in 1765. This was an act to lay a uniform tax on stamped
paper in all the colonies, to realize funds for the common defense.
Prior to this Parliament had adopted a tax on imports, to be paid in
coin. These acts excited bitter opposition. A congress of delegates
assembled in New York in October, 1765. Messrs. Fox, Morton,
 History of Clarion County. Bryan, and Dickinson were the
delegates from Pennsylvania. A petition was sent to the king, and a
memorial to Parliament. So strong was the opposition of the
colonists to the measures of Parliament, that the Stamp Act was
repealed the following year. A duty on tea, paper, etc., was the next
step taken by the British government to raise revenue off the
colonies. This measure was opposed as strenuously by the people
and their assemblies as the former acts had been, and in 1770 this
tax was abolished, except three pence a pound on tea. The effect on
the people, however, was the same, as it was the principle of "
taxation without representation " that they objected to. On the
death of his father, Richard (177 1), Governor John Penn returned to
England, and his younger brother, Richard, was appointed governor.
He won the esteem of the people during the two years of his
service, when he was superseded in 1773 by his brother John.
Maryland was not the only claimant of the territory embraced in
Penn's province. Connecticut claimed and actually colonized a large
part of the northern section of Pennsylvania, including the Wyoming
valley, and Virginia claimed the section in the neighborhood of
Pittsburgh. The Connecticut claim was not finally adjusted until
1802, when Congress decided in favor of Pennsylvania. Trouble with
the mother country now became imminent. The principle of taxation
was maintained by the government and as stoutly resisted by the
colonies. On the 4th of September, 1774, the first Continental
Congress assembled in Philadelphia. It was resolved that no more
goods be imported from England, and that, unless a pacification was
effected previously, no more colonial produce of the soil be exported
thither after September 10, 1775. A ■declaration of rights was
adopted and addresses to the king, the people of Great Britain, and
of British America were adopted. The government of Great Britain
determined with a strong hand to compel obedience to its behests.
The battle of Lexington was fought on the 19th of April, 1775. The
colonies were aroused by the blow. A public meeting was held in
Philadelphia and it was resolved to organize military companies in all
the counties. The second Continental Congress met in May, and
provided for organizing an army, fixing the quota for Pennsylvania at
4,300 men. The capture of Ticonderoga on May 10, and the battle of
Bunker Hill, June 17, followed. Washington was appointed
commander-in-chief of the Continental army. Congress
recommended action by the several colonies, which meant the
deposition of the royal governors. A new constitution was resolved
upon by the delegates at a colonial meeting in Philadelphia. A
resolution was introduced in Congress June 7, 1776, declaring that
"the United Colonies are, and of right ought to be free and
independent States." A committee (consisting of Adams, Franklin,
Jefferson, Livingston, and Sherman) was appointed to draft a
declaration. It was reported June 28, and adopted
 Pennsylvania. 29 July 4. An engrossed copy of the
declaration was made, which was signed on the 2d of August
following. The convention for framing a new constitution for
Pennsylvania met on the 15th of July, elected Franklin president,
framed a new organic law, and made all necessary provisions for
putting it in operation. The old proprietary Assembly adjourned on
the 28th of September never to meet again, and with it ended the
power of Governor Penn. He remained in this country, living at his
country seat in Buck's county, until his death, which occurred in
1795. In 1779 the Legislature passed an act vesting the estates of
the proprietors in the commonwealth, but paying them a gratuity of
130,000 pounds, " in remembrance of the enterprising spirit of the
Founder." This act did not touch the private estates of the
proprietors. England still pays the heirs of Penn an annuity of 4,000
pounds. The British government raised an army of 72,000 men,
17,000 of whom were hired Hessians. Congress issued bills of credit
amounting to $6,000,000. Washington compelled Howe to evacuate
Boston in March, 1776. The following June Sir Henry Clinton and Sir
Peter Parker made a combined land and naval attack on the
defenses of Charleston harbor, and were repulsed by the Carolina
militia under General William Moultrie. The British forces withdrew to
New York, where they were met by reinforcements under Lord
Howe, and compelled Washington to withdraw from the city. The
patriot army retreated across New Jersey and took position on the
right bank of the Delaware, on Pennsylvania soil. Cornwallis followed
with a heavy detachment. On the night of the 25th of December
Washington recrossed the Delaware with a picked body of men,
surprised the Hessians posted at Trenton, killed some fifty, and took
over a thousand prisoners with their stores, arms, and ammunition.
This success inspired the little army with new courage and saved
Philadelphia from falling into the hands of the enemy. A second
action, at Princeton, N. J., gave Washington a partial success; but
being outnumbered he withdrew and went into winter quarters at
Morristcwn. On the 4th of March, 1777, the two houses of the
Legislature, elected under the new constitution, assembled, and in
joint convention chose Thomas Wharton, jr., president, under the
high-sounding title of " His Excellency, Thomas Wharton, Junior,
Esquire, President of the Supreme Executive Council of Pennsylvania,
Captain General, and Commander-in-chief in and over the same."
Early in the spring indications pointed to Philadelphia as the point of
attack by the British army. Enlistments were urged, and General
Benedict Arnold was put in command of a camp opened in
Pennsylvania for drilling recruits. In midsummer Lord Howe
embarked a force of 19,500 men on a fleet of 300 transports, and
sailed southward from New York to Chesapeake Bay and up the bay
to within fifty-four miles of Philadelphia, where he debarked.
Washington had meanwhile crossed the Delaware from New Jersey,
passed through
 30 History of Clarion County. Philadelphia, and confronted
Howe near the Brandywine. After a brisk skirmish Washington
withdrew across the Brandywine, taking position at Chad's Ford,
where, on the iith of September, a pitched battle ensued. A
detachment of the British moved up the river beyond the right flank
of the Americans, where they crossed, and returning took the army
under Washington by surprise. Overborne by numbers, the
Americans were compelled to retire. Lafayette was wounded in this
battle. The British still advanced toward Philadelphia, and on the i6th
Washington made another stand some twenty miles west of
Philadelphia ; but a rain storm wet the powder of the patriot
soldiers, which prevented a general engagement. On the 20th
General Wayne, who had a small detachment scouting in the rear of
the enemy, was surprised by the British, who gave no quarter,
putting all to the sword but a few whom chance favored to escape.
This slaughter is known as the Paoli massacre. On the i8th of
September Congress adjourned from Philadelphia to meet at
Lancaster, and on the 30th removed across the Susquehanna to
York, where it remained in session till the following summer. The
Council adjourned to Lancaster. On the 26th the British army entered
Philadelphia. The defenses on the Delaware were still in possession
of the Americans. Accordingly, on the 21st of October Count Donop,
with a force of 2,500 men, made an attack on Fort Mercer, at Red
Bank ; but the resolute defenders compelled the British to retreat,
with a loss of over 400 men, and their leader mortally wounded. The
British next bombarded the fort for six days, and, not succeeding in
its reduction, they at last brought their large vessels close under the
walls of the fort and manned the yard-arms with sharpshooters, who
drove the gunners from their posts, and the fort fell into the hands
of the enemy, leaving the navigation of the Delaware open to the
British. On the 3d of October Washington's army attacked the British
at Germantown. At first the promise of victory was fair ; but the
enemy proved too strong in numbers and position, and Washington
retired to his camp at White Marsh, nearly sixteen miles away. Here
Howe endeavored to surprise him on the 4th of December, but Lydia
Darrah, a Philadelphia lady, brought the intelligence to Washington
in time to prepare to receive the British. Howe returned to the city
without accomplishing anything. Washington now crossed the
Schuylkill and went into winter quarters at Valley Forge. The patriot
army, half clad and poorly fed, suffered severely, the prints of their
naked feet in snow and on frozen ground being often tinted with
blood. Sir Henry Clinton was appointed by the ministry of Great
Britain to succeed Lord Howe. A treaty with France secured that
government as an ally of the Americans against the English. A fleet
of four frigates and twelve ships was dispatched under command of
Count D'Estaing to shut up the British fleet in the Dela 
 Pennsylvania. 31 ware. Intelligence of the sailing of the
French fleet reached the English cabinet, and the evacuation of the
Delaware was immediately ordered. The fleet withdrew to New York,
and Clinton evacuated Philadelphia, moving across New Jersey
toward New York. Washington followed and came up with the enemy
at Monmouth, on the 28th of June, where a battle was fought,
resulting in a victory for the American troops. Congress returned to
Philadelphia from York, as did also the Colonial Legislature from
Lancaster. General Arnold, who was wounded at Saratoga, was given
command in Philadelphia, and occupied the city with a regiment the
day following the evacuation. The death of President Wharton made
Vice-President George Bryan acting president. Bryan perfected a bill
for the extinguishment of claims to slaves, which was passed by the
Assembly March i, 1780. It provided that no child of slave parents,
born after that date, should be a slave, but a servant till theage of
twenty-eight years, when all claim for service should end. In this
man-ner was slavery forever rooted out of Pennsylvania. During the
summer of 1778, twelve hundred Tories and Indians made a.
descent from the north into the Wyoming Valley. Most of the able-
bodied men were in the patriot army. The old men and boys,
numbering about four hundred, resolutely met the invaders, but
were overborne by numbers and put to the sword. A few escaped to
Forty Fort. Humane terms of surrender were agreed upon, and the
families returned to their homes ; but the savages treacherously fell
upon them, and the night of the 5th of July was given to
indiscriminate slaughter. This bloody incident is known as the
"Wyoming Mas^ sacre." Early in this year the British government
made overtures of peace, after Parliament had abolished the taxes
which were so offensive to the colonies. Promises were extended to
forgive all past offenses, but Congress refused to listen to any
proposals so long as the English armies remained on American soil.
One of the committee sent by the British government, named
Johnstone, proposed to General Reed that if he would lend his aid to
bring about terms of pacification, ten thousand guineas and the best
office in the country should be his. The answer of the patriot general
was, " My influence is but small, but were it as great as Governor
Johnstone would insinuate, the king of Great Britain has nothing in
his gift that would tempt me." Joseph Reed was elected president of
the Pennsylvania Legislature and inaugurated on the 1st of
December, 1778. At the request of Washington, President Reed was
invested with extraordinary powers in 1780, which he used with
prudence and good effect. During the winter of this year some of the
soldiers of the Pennsylvania line mutinied and marched on
Philadelphia with arms. They had enlisted for " three years or the
war," meaning three years unless the war closed sooner. The
authorities had interpreted it to mean three years, or as much longer
as the war should last. President Reed met the mu 
 32 History of Clarion County. tineers, heard their cause, and
pledged himself to have all discharged who had honorably served
the full term of three years if they would return to camp. The
soldiers agreed to this proposition. Before the arrival of President
Reed, two emissaries from the enemy came into camp, offering
inducements for the soldiers to continue the revolt. The mutineers
spurned the offer, and delivered them over to the officers, by whom
they were tried and executed as spies. A reward was offered the
soldiers for this manifestation of patriotism, but they refused it,
saying that what they had done was for love of their country, and
they would accept no reward. William Moore was elected president
to serve from November 14, 1781. A body of four hundred
volunteers, from Washington and Westmoreland counties, was called
out, under command of Colonel William Crawford, to chastise the
hostile Ohio Indians. The expedition was unfortunate, being
defeated, dispersed, and their leader captured and burned at the
stake. Crawford county was soon after named in honor of this
unfortunate soldier. In 1782 John Dickinson was chosen president of
Pennsylvania. The following year the independence of the colonies
was acknowledged, and the joy at the return of peace was
unspeakable. The soldiers of Burgoyne, who had been confined in
the prison camp at Lancaster, were sent to New York. In June
another revolt occurred among the Pennsylvania troops, because of
the delay in their payment and discharge. Congress demanded that
the State militia should be called out to quell the insurgents. The
Council refused to resort to this extreme measure, and Congress left
Philadelphia in pique, establishing itself at Princeton, N. J., and
afterward at Annapolis, Md. In October, 1784, the last treaty was
concluded with the Indians at Fort Stanwix. All the land north of the
Ohio River and the line of Pine Creek was purchased from the
natives. This purchase completed the entire limits of the State, with
the exception of the "Erie Triangle," which was acquired from the
United States in 1792. Benjamin Franklin was elected president of
the Council in 1785. In May, 1787, the convention to frame a
constitution for the United States met in Philadelphia. Upon the
completion of their work the instrument was submitted to the
several States for adoption. Pennsylvania adopted the constitution
on the 1 2th of December. Thomas Mifflin was elected president of
the Council on the 5th of November, 1788. A convention assembled
in November, 1789, to prepare a new constitution for the State,
which was adopted on September 2, 1790. The Council was
abolished, and the executive duties were vested in the hands of a
governor. Legislation was intrusted to an Assembly and a Senate.
Thomas Mifflin was elected governor under the new Constitution,
and served three successive terms. A system of internal
improvements was undertaken and a great debt was accumulated.
The Bank of Pennsylvania
 Pennsylvania. 33 was chartered in 1793, and continued to
exist until 1857. Tlie yellow fever visited Philadelphia in 1793, and
nearly 5,000 perished by the pestilence. The whisky insurrection in
some of the western counties of the State occurred in 1794. The
counties comprising the southwestern quarter of the State were
engaged almost exclusively in the production of grain. Being distant
from any market, a large proportion of the surplus grain was turned
into distilled spirits, on which Congress laid a tax of four pence per
gallon in 179 1. This tax bore heavily on these people, and they
formed a determination to resist its collection. Acts of violence
followed. In 1792 the tax was reduced. President Washington issued
a proclamation commanding all persons to submit to the law, but
without effect. The insurgents organized for forcible resistance, and
assembled at Braddock's field to move on to Pittsburgh. Governor
Mifflin took measures to ascertain the facts about the trouble and
bring the leaders to justice. President Washington called out the
militia of Pennsylvania, New Jersey, Maryland, and Virginia, to the
number of 13,000 men, to quell the insurrection. Governor Mifflin
took command of the Pennsylvania troops, and Washington himself
accompanied the army. This had the effect to change the attitude of
the insurgents. Washington proceeded as far as Bedford, but the
submission of the people rendered it unnecessary to go any farther.
A number of arrests were made, but all were ultimately pardoned.
The capital of the State was removed to Lancaster in 1799. Thomas
McKean was elected governor the same year, and Simon Snyder in
1808. Harrisburg was made the State capital in 18 10. In 18 12 war
was declared against Great Britain. The national call for 100,000
men required 14,000 from this State; but so great was the
enthusiasm that several times this number tendered their services.
Pennsylvania did not suffer from invasion during this war. Her troops
and sailors participated in the various actions of the war, and it was
in Erie harbor that the fleet was organized that won the signal
victory under Perry, on Lake Erie. General Smith, a Pennsylvania
veteran of the Revolution, repulsed the invading army under General
Ross, near Baltimore, where Ross was killed. William Findley was
elected governor in 18 17, Joseph Hiester in 1820, and Andrew
Schulz in 1823. During this period the State -banks set a flood of
paper money afloat, lines of canals were opened and vast debts
incurred. Coal was discovered and used in the State as early as
1769, but little was known of its importance until an accident
brought about a knowledge of how to make it burn. In 1820, 365
tons were sent to Philadelphia, which amount glutted the market. In
1885 the production of anthracite coal in the State was 31.750,546
tons, and of bituminous coal 20,647,720 tons. The bituminous coal
was discovered and utilized a little earlier than the anthracite, a
cargo having been sent down the Susquehanna from Clearfield
county in 1804. Iron ore' was discovered and worked soon after
Philadelphia was laid out.
 34 History of Clarion County. It is not known when or where
the first forge was erected. In 17 17 Jonathan Dickinson spoke of
the great expectations of the iron works forty miles up the Schuylkill.
Where they were situated is not settled. It is supposed that the
reference was to the Coventry forge, on the French Creek, in Chester
county, which is said to have been built by a man named Nutt. It is
said to have gone into operation in 1720. But a forge is also
mentioned in March, 17 19 or 1720, at Manatawney, now
Montgomery county. The first mention of iron-making in
Pennsylvania in Minutes of Council is February 24, 1726, where it is
stated that "several companies are already engaged in carrying on
iron- works." In 1728 Mr. Logan wrote that there were four furnaces
in Pennsylvania in blast. In 1730 there were four furnaces, nine
forges, and two bloomeries, which manufactured 1,072 tons pig iron
and about 300 tons bar iron. One hundred years later the product of
forty- five furnaces was about 40,000 tons, which grew in the next
seventeen years (1847) to over 380,000 tons, from 522
establishments. The products of 810 establishments in the State,
engaged in the manufacture of iron and its various products during
the year 1885 were valued at more than $120,000,000. This sum is
a decided decrease from that of some preceding years. Pennsylvania
has long ranked first of the States in the Union in the production of
iron. During the administrations of George Wolf, elected in 1829, and
Joseph Ritner, elected in 1835, a system of public education was
established and brought into a good degree of successful operation.
Attention had early been given to education in the colony. In 1749 a
charter was obtained for a " college, academy, and charity school of
Pennsylvania." The University of Pennsylvania was chartered in
1752, Dickinson College in 1783, Franklin and Marshall College in
1787, and Jefferson College in 1802. Charters were granted for
academies at the county seats of forty-one counties, and
appropriations were made of money, and in several instances of land
grants. In 1809 an act was passed for the education of the " poor,
gratis." By the act of 1834 a general system of education by
common schools was established. It was complex and unwieldy, and
in 1836 a new bill was adopted; and from this time forward the
system has been in efficient operation. In 1854 the system was
improved by establishing the county superintendency, and in 1859
by providing for State Normal schools for the professional training of
teachers. The constitution was revised in 1837—38. The "Buckshot
War" occurred at the opening of Governor David R. Porter's term,
who was chosen in 1838. The origin of this commotion was the
attempt on the part of the Anti-Masonic party to " revise " the
returns of the election, which gave Porter (the Democratic
candidate) some 5,000 majority. Anarchy prevailed for a time at
Harrisburg. Two speakers were elected. An infuriated lobby from
Philadelphia and other cities collected and took possession of the
two Houses, driving the members from the chambers. The militia
were called out and supplied with
 Pennsylvania. 35 buckshot cartridges. The capitol was
cleared, but Governor Porter was dulyinaugurated. Francis R. Shunk
was chosen governor in 1845. The Mexican War occurred during his
term of ofifice. Two volunteer regiments under Colonels Wynkoop
and Roberts were sent to the field. Colonel John W. Geary
afterwards succeeded Roberts in command of the second regiment.
William F. Johnston succeeded Governor Shunk. William Bigler was
elected in 185 i, James Pollock,in 1854, and William F. Packer in
1857. During these administrations the lines of public works
undertaken at the expense of the State were completed. Their cost
had been enormous, and a debt of over $40,000,000 was piled up
against the commonwealth. The Pennsylvania Railroad
Companypurchased them during Governor Pollock's administration
for $7,500,000. In the administration of Governor Packer petroleum
was discovered in quantities in this State by boring into the bowels
of the earth. From the earliest settlement of the country it was
known to exist. As early as 1627 Joseph Delaroche Daillon, a French
missionary, described it in a letter published in 1632. Fathers DoUier
and Galinee made a map of this section of the country in 1670, on
which was marked, at about the point where the town of Cuba, N.
Y., is now situated, " Fontaine de Bitume." The governor of New York
instructed his chief engineer, Romer, in 1700, in his visit to the Six
Nations, to examine a spring that he was told blazed in a flame
when fire was brought into contact with it. The French give an
account of an Indian dance, near where now is Oil City, at which oil
was burned that had been gathered from the surface of the water in
the creek. In nearly all geographies and notes of travel published
during the early period of settlement, this oil is referred to, and on
several maps the word petroleum appears opposite the mouth of Oil
Creek. Washington, in his will, mentions a bituminous spring on his
lands on the Great Kanawha, and Jefferson, in his " Notes on
Virginia," gives an account of a burning spring on the same river.
This oil seems to have been gathered in very early times. Upon the
flats a mile or so below the city of Titusville are many acres of
cradle-holes dug Out and lined with split logs, evidently constructed
for the purpose of gathering oil. Trees of large size are growing in
the midst of these cradles, so that they must have been operated
long ago. This may have been the work of the mound builders. Even
in later times the oil was collected by throwing a woolen blanket
upon pools of water, where oil was floating on the surface, and then
wringing it into a tub. But it remained for Mr. E. L. Drake to open a
new enterprise, by drilling into the earth, and, after many
discouraging experiences, when about to give up in despair, finally to
strike a strong current of oil. From this time forward the business of
drilling for oil has been rapidly developed, until it has extended over
a wide area of Western Pennsylvania, and into the adjoining States
of New
 2,6 History of Clarion County. York, Ohio, and West Virginia.
The oil has been found in paying quantities in McKean, Warren,
Forest, Crawford, Venango, Clarion, Butler, Armstrong, and
Washington counties. It was first transported in barrels loaded on
wagons and drawn by teams. Flat-boats carried thousands of barrels
down the Allegheny River from Oil City to Pittsburgh in the early
days of development. Lines of railway were soon constructed from
the nearest trunk lines. Barrels gave place to immense iron tanks
riveted upon cars, and finally great pipe lines were extended from
the wells to the seaboard and to the immense refineries on the
Great Lakes, through which the fluid is forced by steam power to its
distant destinations. The^production has been enormous, having
reached a grand total of over three hundred million barrels up to
January i, 1887, and seems as yet to show no signs of diminution. In
addition to the oil, the prodigious volume of gas that issues from the
wells in some parts of the territory has been utilized, and towns and
cities are now lighted and heated by this product of the earth's
interior. Manufactories are supplied with this subtle fuel carried
through pipe lines from the wells, and economy and convenience of
its use bid fair to have a lasting beneficial influence upon the
business interests of this section of the country. Andrew G. Curtin
was elected governor in i860, and Abraham Lincoln president of the
United States. Fifteen of the slave States seceded from the Union
and established a separate government, under the name of the
Confederate States of America. On the 12th of April, 1861, an attack
was made upon a garrison of United States troops holding Fort
Sumter. On the 15th the president summoned 75,000 volunteers, to
serve for three months, calling for sixteen regiments from
Pennsylvania. Instead of sixteen, twenty-five regiments were
organized in this State. Governor Curtin obtained permission from
the Legislature to organize a select corps of thirteen regiments of
infantry, one of cavalry, and one of artillery, to serve within the State
for its defense against invasion; but at the time of the first Bull Run
disaster, in July, 1861, the national government being without troops
to defend its capital, the Pennsylvania Reserve Corps was called out
of the State, and fought gallantly on many a bloody field during the
three years' term of service. During the war Pennsylvania furnished a
grand total of more than 350,000 men to serve in the armies of the
republic. In 1862 the Confederates, under General J. E. B. Stewart,
invaded Pennsylvania, and burned some buildings at Chambersburg.
In June of the following year General Lee led his entire army (of
Northern Virginia) into this State. The Army of the Potomac, under
General Hooker, followed. General George G. Meade was appointed
to supersede Hooker while the army was on the march. The
vanguards of the armies met at Gettysburg on the ist of July. For
three days the battle raged with relentless fury. General Reynolds fell
on
 Pennsylvania. 37 the first day, and the First and Eleventh
Corps of the Federal army were forced to retire after a desperate
struggle, and to take position on the heights south of the town.
During the night reinforcements continued to come up for both
armies, and preparations were made to renew the struggle. On the
second day the battle opened on the extreme left of the Union army
by an attack from the Confederate right. After a bloody slaughter the
Union troops lost ground, but still continued to hold Little Round
Top, the key to their position. In the evening of the same day a
desperate charge was made on the center of the Union line, but the
Confederates were repulsed with terrible loss. About the same time
an attack was made on the extreme right of Meade's army, which
had been weakened by withdrawing troops to other parts of the
field, and the line was occupied and held by the Confederates during
the night. On the morning of the third, the battle opened for the
recovery of this part of the line and raged with great fury until ten
o'clock, when the Confederates were driven from the position and
the line of rifle pits was reoccupied by the Union troops. About two
o'clock a heavy artillery fire was opened on the Union line, which
was responded to for two hours. Rarely has such a cannonade been
heard on any field. A corps of 18,000 Confederates now advanced
upon the Union line. A concentrated artillery fire was opened upon
the column, with fearful effect. When the advance had come within
musket range the Union troops poured in a murderous fire. Still on
came the brave Southerners, and actually crossed the Union lines;
but the slaughter was too terrible to withstand. Many were killed or
captured ; a small remnant staggered back, and the battle of
Gettysburg was won for the Union. The losses on the Union side
were 2,834 killed, 13,709 wounded, and 6,643 missing, an
aggregate of 23,186. Of the Confederates 13,621 prisoners were
taken, and their loss in killed and wounded must have been equal to
that on the Union side. Gett}^sburg was the culminating battle of
the war, and from that time forward the fortunes of the Confederacy
continued to wane. During the summer of 1864 Pennsylvania was
again invaded by a force of Confederates, and almost the entire
town of Chambersburg was laid in ashes. The w^ar ended in 1865.
The State provided schools for the soldiers' orphans, furnishing food,
clothing, instruction, and care until the age of sixteen. The number
thus cared for up to January i, 1887, ^^^^ been about 14,000, at
an annual expense of about $375,000. John W. Geary was elected
governor in 1866. A convention for a revision of the constitution
assembled in 1872, and the instrument was framed and adopted in
1873. John F. Hartranft became governor in 1873. The first
centennial anniversary of the Declaration of Independence was
celebrated in 1876, by holding an international exposition in
Philadelphia. The exposition opened
 38 History of Clarion County. on the loth of May and closed
on the lOth of November, with a total attendance of 9,789,392. The
largest number of people admitted on any one day was 274,919, on
Pennsylvania Day, September 28. During Hartranft's administration
occurred the great strike (1877), when travel and traffic were
suspended for some time. At Pittsburgh and Scranton conflicts
occurred, in which a number of people lost their lives. An uneasy
feeling prevailed for several weeks, but the National Guard, assisted
by the Regulars, at length succeeded in restoring order, and business
again assumed its usual course. In 1878 Henry F. Hoyt was chosen
governor, and Robert E. Pattison was elected in 1882. The
Legislature which met in 1883, having adjourned without passing a
congressional apportionment bill, was reconvened by the governor in
extra session, and remained in session from June to December
without agreeing upon a bill. General James A. Beaver was elected
governor in 1886, and is the present incumbent. CHAPTER HI.
TOPOGRAPHY OP CLAPJON COUNTY. Table-Land Character —
Drainage — Streams — Elevations — General Description — Forests
— Scenery — Ancient Channels. THE surface of Clarion county has a
sufficient general elevation above the level of the large streams to
merit the name of a table-land ; but its numerous water-courses,
many of them with valleys of gorge-like depth and abruptness, break
it up into a succession of ridges and rolls, leaving little of the level
associated with the idea of a table- land. A thickly intersected
undulatory plateau it is, therefore ; and a miniature of the great one
of Western Pennsylvania, intersected by the Allegheny and its
tributaries. Clarion county occupies a central position in Western
Pennsylvania, lying but six miles north of a line drawn east and west
through the middle of the State. A glance at the map will show three
main systems of drainage : The great central one of the Clarion
River, comprising three- fourths of the county; the northern, where
the edge is drained by streams falling into Tionesta Creek and the
Allegheny ; and the southern, whose streams take their course to
Redbank, with the exception of Catfish and Black Fox Runs,
emptying into the Allegheny. The great artery of the county, the
Clarion River, is a clear, beautiful stream which, being formed by the
junction, at Ridgway, Elk county, of West Clarion and Elk Creek,
enters the county at Cooksburg, and, traversing
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