Modelling and control of an overhead crane with a variable length flexible cable

Kamal A.F. Moustafa; Mohamed B. Trabia; Mohamed I.S. Ismail

doi:10.1504/IJCAT.2009.023945

Modelling and control of an overhead crane with a variable length flexible cable

Kamal A.F. Moustafa, Mohamed B. Trabia, Mohamed I.S. Ismail

Department of Mechanical and Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

This paper introduces a novel mathematical model that represents an overhead crane with flexible cable and load hoisting/lowering. The model includes the transverse vibrations of the flexible cable. Highly non-linear Partial Differential Equations and Ordinary Differential Equations that govern the motion of the crane system within the time-varying spatial domain are derived via calculus of variation and Hamilton's principle. A proportional derivative control scheme is applied to drive the underlying crane so that the cable and payload swing are damped out. Numerical simulations for the control performance of the considered system are presented for various operating conditions.

Original language	English
Pages (from-to)	216-228
Number of pages	13
Journal	International Journal of Computer Applications in Technology
Volume	34
Issue number	3
DOIs	https://doi.org/10.1504/IJCAT.2009.023945
Publication status	Published - Mar 2009

Keywords

Flexible cable
Overhead cranes
Proportional and derivative control
Variable-time modified galerkin method

ASJC Scopus subject areas

Software
Information Systems
Computer Science Applications
Computer Networks and Communications
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1504/IJCAT.2009.023945

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abstract = "This paper introduces a novel mathematical model that represents an overhead crane with flexible cable and load hoisting/lowering. The model includes the transverse vibrations of the flexible cable. Highly non-linear Partial Differential Equations and Ordinary Differential Equations that govern the motion of the crane system within the time-varying spatial domain are derived via calculus of variation and Hamilton's principle. A proportional derivative control scheme is applied to drive the underlying crane so that the cable and payload swing are damped out. Numerical simulations for the control performance of the considered system are presented for various operating conditions.",

keywords = "Flexible cable, Overhead cranes, Proportional and derivative control, Variable-time modified galerkin method",

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AU - Trabia, Mohamed B.

AU - Ismail, Mohamed I.S.

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N2 - This paper introduces a novel mathematical model that represents an overhead crane with flexible cable and load hoisting/lowering. The model includes the transverse vibrations of the flexible cable. Highly non-linear Partial Differential Equations and Ordinary Differential Equations that govern the motion of the crane system within the time-varying spatial domain are derived via calculus of variation and Hamilton's principle. A proportional derivative control scheme is applied to drive the underlying crane so that the cable and payload swing are damped out. Numerical simulations for the control performance of the considered system are presented for various operating conditions.

AB - This paper introduces a novel mathematical model that represents an overhead crane with flexible cable and load hoisting/lowering. The model includes the transverse vibrations of the flexible cable. Highly non-linear Partial Differential Equations and Ordinary Differential Equations that govern the motion of the crane system within the time-varying spatial domain are derived via calculus of variation and Hamilton's principle. A proportional derivative control scheme is applied to drive the underlying crane so that the cable and payload swing are damped out. Numerical simulations for the control performance of the considered system are presented for various operating conditions.

KW - Flexible cable

KW - Overhead cranes

KW - Proportional and derivative control

KW - Variable-time modified galerkin method

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Modelling and control of an overhead crane with a variable length flexible cable

Abstract

Keywords

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