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

Clicks: 2
ID: 194007
2013
Free PDF
Article Quality & Performance Metrics
Overall Quality
Not rated
Combines reader engagement with the AI quality analysis. This article has not been analysed, so there is no overall score — reader engagement is measured and shown alongside.
AI Quality Assessment
Not analyzed
Readership in this journal
Popular

Ranked #31 of 31 articles by views in advances in medical education and practice

Most read Least read

Bar heights use a square-root scale.

Mint this article as an NFT
Not yet minted

Create a permanent, verifiable on-chain record of this article on the Scimatic Network. The NFT is held in your Journament account, and you can withdraw it to your own wallet at any time.

5 SUSD one-off · no wallet required
Sign in to mint
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.
Reference Key
o'connor2013mechanicalgantry Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;W. O'Connor;H. Habibi
Journal advances in medical education and practice
Year 2013
DOI
10.5194/ms-4-251-2013
URL
http://www.mech-sci.net/4/251/2013/ms-4-251-2013.pdf
Keywords
materials of engineering and construction mechanics of materials

Citations

No citations found. To add a citation, contact the admin at info@scimatic.org

Comments

No comments yet. Be the first to comment on this article.