Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts
| Autor: | Hossein Habibi, William J. O'Connor |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2013 |
| Předmět: |
Engineering
Double pendulum Double-pendulum Crane control Industrial and Manufacturing Engineering Gantry crane Control theory Position (vector) lcsh:TA401-492 Six degrees of freedom Wave-based control (WBC) Civil and Structural Engineering Fluid Flow and Transfer Processes business.industry Mechanical Engineering Mechanical wave concepts Equations of motion Flexible cable Swing Motion control Mechanics of Materials Control and Systems Engineering Distributed-mass load 3-D double pendulum lcsh:Materials of engineering and construction. Mechanics of materials business Gantry overhead crane |
| Zdroj: | Mechanical Sciences, Vol 4, Iss 2, Pp 251-261 (2013) |
| Popis: | © Author(s) 2013. This work is distributed under the Creative Commons Attribution 3.0 License. The overhead trolley of a gantry crane can be moved in two directions in the plane. The trolley is attempting to control the motion of a suspended, rigid-body, distributed mass load, supported by a hook, modelled as a lumped mass, in turn connected to the trolley by a light flexible cable. This flexible system has six degrees of freedom, four variables describing the flexible, hanging load dynamics and two (directly controlled) input variables for the trolley position. The equations of motion are developed and the crane model is verified. Then a form of wave-based control (WBC) is applied to determine what trolley motion should be used to achieve a reference motion of the load, with minimum swing during complex manoeuvres. Despite the trolley's limited control authority over the complex, flexible 3-D dynamics, WBC enables the trolley to achieve very good motion control of the load, in a simple, robust and rapid way, using little sensor information, with all measurements taken at or close to the trolley. |
| Databáze: | OpenAIRE |
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