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.


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    Title :

    Modeling of an Underactuated Nonlinear Double-Container Overhead Crane



    Published in:

    Advanced Materials Research ; 479-481 ; 680-687


    Publication date :

    2012-02-27


    Size :

    8 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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