Abstract
In this paper, we derive a nonlinear dynamical model for an overhead crane. The model takes into account simultaneous travel and transverse motions of the crane. The aim is to transport an object along a specified transport route in such a way that the swing angles are suppressed as quickly as possible. We develop an antiswing control system which adopts a feedback control to specify the crane speed at every moment. The gain matrix is chosen such that a desired rate of decay of the swing angles is obtained. The model and control scheme are simulated on a digital computer and the results prove that the feedback control works well.
Original language | English |
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Pages (from-to) | 266-272 |
Number of pages | 7 |
Journal | Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME |
Volume | 110 |
Issue number | 3 |
DOIs | |
Publication status | Published - Sept 1988 |
Externally published | Yes |
ASJC Scopus subject areas
- Control and Systems Engineering
- Information Systems
- Instrumentation
- Mechanical Engineering
- Computer Science Applications