Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts

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Title: Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts
Authors: O'Connor, William
Habibi, Hossein
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Date: 1-Jul-2013
Abstract: 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.
Type of material: Journal Article
Publisher: Copernicus GmbH
Journal: Mechanical Sciences
Volume: 4
Issue: 2
Start page: 251
End page: 261
Copyright (published version): 2013 Copernicus GmbH
Keywords: Crane controlGantry overhead crane3-D double pendulumWave-based control (WBC)
DOI: 10.5194/ms-4-251-2013
Language: en
Status of Item: Peer reviewed
Appears in Collections:Mechanical & Materials Engineering Research Collection

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