Modeling of an Underactuated Nonlinear Double-Container Overhead Crane
| Autor: | Jian Xin Chu, Wei Min Xu, Yun Lin Li, Xian Wen Zhou |
|---|---|
| Rok vydání: | 2012 |
| Předmět: |
Engineering
Computer simulation Underactuation business.industry General Engineering Control engineering Overhead crane Kinematics General Relativity and Quantum Cosmology Nonlinear system Control theory Mathematics::Quantum Algebra Mathematics::Category Theory Container (abstract data type) business Rope |
| Zdroj: | Advanced Materials Research. :680-687 |
| ISSN: | 1662-8985 |
| Popis: | Compared with a traditional single-container overhead crane, the double-container overhead crane is a type of new efficient container stevedoring machinery, however, it is actually a complicated nonlinear system. In this brief, both the kinematic and dynamic characteristics concerning the double-container crane are investigated, and then an accurate dynamic model of the underactuated double-container overhead crane is established by utilizing Euler-Lagrange's method. Not only is the variation of the rope and payloads, but also some uncertainties such as mechanical frictions and air-resistance in the environment are taken into account in modeling. Simulation results show the validity of the established double-container overhead crane model. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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