Time-Delay Algorithms for Damping Oscillations of Suspended Payload by Adjusting the Cable Length
| Autor: | Milan Anderle, Jaroslav Bušek, Silviu-Iulian Niculescu, Tomáš Vyhlídal |
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| Přispěvatelé: | Czech Technical University in Prague (CTU), Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), Dynamical Interconnected Systems in COmplex Environments (DISCO), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-Inria Saclay - Ile de France, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria), Czech Science Foundation [16-17398S] |
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering Synchronizing 02 engineering and technology Synchronization 020901 industrial engineering & automation Control theory [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering 0202 electrical engineering electronic engineering information engineering Electrical and Electronic Engineering ComputingMilieux_MISCELLANEOUS Simulation Oscillations damping business.industry Payload Oscillation 020208 electrical & electronic engineering Rotation around a fixed axis Pendulum Swing time delay Computer Science Applications Nonlinear system variable length pendulum Control and Systems Engineering nonlinear control business Algorithm |
| Zdroj: | IEEE/ASME Transactions on Mechatronics IEEE/ASME Transactions on Mechatronics, 2017, 22 (5), pp.2319-2329. ⟨10.1109/TMECH.2017.2736942⟩ IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2017, 22 (5), pp.2319-2329. ⟨10.1109/TMECH.2017.2736942⟩ |
| ISSN: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2017.2736942 |
| Popis: | This paper deals with damping oscillations of a payload suspended to a fixed position base (e.g., a standing crane trolley). The damping is done by utilizing the Coriolis force generated by synchronizing translational and rotational motion of the payload. After revising existing approaches mainly based on approximating the payload motion by the motion of a mathematical pendulum, several nonlinear time-delay algorithms are proposed to handle the given task efficiently. The key benefit of the proposed methods is the feedback character of the algorithms guaranteeing the required synchronization of the cable length adjustment with the payload swing motion under the varying oscillation period and even under the effect of external disturbances. Note that the preceding algorithms were of open-loop character where such a synchronization was not guaranteed. The theoretical design is validated by simulations. The implementation aspects are discussed by relaxing the simplifying assumptions. Finally, the proposed time-delay feedback method is experimentally verified on a laboratory setup. The achieved results demonstrate viability of the proposed method for payload oscillation damping, e.g., in crane applications. |
| Databáze: | OpenAIRE |
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