Numerical JModelica.org-based approach to a simulation of Coriolis effects on guided boom-driven payload swaying during non-uniform rotary crane boom slewing

Autor: Alexander V. Perig, Denys Yu. Mikhieienko, A. A. Kostikov, Ruslan R. Lozun
Rok vydání: 2016
Předmět:
Zdroj: Journal of the Brazilian Society of Mechanical Sciences and Engineering. 39:737-756
ISSN: 1806-3691
1678-5878
DOI: 10.1007/s40430-016-0554-2
Popis: The present article is focused on the study of the swaying motion of a payload during non-uniform guided slewing of a crane boom with an emphasis on the Coriolis effects. A new mathematical model of the motion of the mechanical system “guided crane boom–payload” has been derived with an introduction of Blajer’s projection method. The governing dynamic system has been shown in the form of an implicit system of differential-algebraic equations. A time-optimal control problem has been formulated for the guided system with an open-loop control and with explicit limitations on payload swaying and on the control input. The numerical solution of the posed optimization problem has been found with an introduction of Optimica and JModelica.org freeware. Verification of numerically derived results has been realized through the comparison of computational and experimental absolute trajectories of a swaying payload. A satisfactory agreement between theoretical and experimental results was found. A dynamic analogy between the governing system of equations and Foucault pendulum-like systems was found and outlined. The proposed open code algorithms, derived numerical data and computational plots enhance and expand our knowledge about the dynamics of guided boom-driven payload swaying during rotary crane boom slewing.
Databáze: OpenAIRE
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