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|Title:||Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts|
|Keywords:||Gantry crane;Wave-based control (WBC);Double-pendulum;Distributed-mass load;Mechanical wave concepts|
|Citation:||Mechanical Sciences, 4(2): 251 - 261, (2013)|
|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.|
|Description:||© Author(s) 2013. This work is distributed under the Creative Commons Attribution 3.0 License.|
|Appears in Collections:||Dept of Mechanical Aerospace and Civil Engineering Research Papers|
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