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.


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    Title :

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


    Contributors:

    Publication date :

    2013-12-01


    Remarks:

    O'Connor , W & Habibi , H 2013 , ' Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts ' , Mechanical Sciences , vol. 4 , no. 2 , pp. 251-261 .


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



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