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Anti-sway control of a gantry crane with flexible rope
, Article International Conference on Integrated Modeling and Analysis in Applied Control and Automation ; 2007 , Pages 23-28 ; 23052139 (ISSN) ; Alasti, A ; Sharif University of Technology
I3M Conference
2007
Abstract
In this paper, a new approach for controlling the sway angle of the load in trolley cranes is presented which is based on the flexibility of the cable and variation of its length by the time. The crane dynamics has been described by hybrid PDE and ODE equations which uses the PDE as the equations of motion for the flexible cable and ODE for those of the trolley and the load. The purpose of the controller is to transport the load to the desired position and to eliminate its sway angle at the destination. The control law is based on the Lyapunov's second method. The efficiency of the proposed controller is demonstrated via various simulations
Design and Make a Prototype of a Gantry Crane and Controller for Suspense Load
, M.Sc. Thesis Sharif University of Technology ; Saadat Foumani, Mahmood (Supervisor)
Abstract
Swaying is an unfavorable phenomenon in moving suspended loads. So, cranes are usually equipped by anti-sway controllers. In this thesis, various controllers have been applied to a prototype of gantry crane system with various control inputs, and their competency has been assessed. First, a 2-DOF model has been introduced. This model contains a trolley and double pendulum with variable length attached to it. Then, it has verified by two approaches: first is comparing with simplified equations of model with flexible cable; and second is comparing with behavior of simulated system by Visual Nastran software. Next, a SISO linear controller has been designed for container cranes and applied to...
Nonlinear vibration of a three-dimensional moving gantry crane subjected to a travelling trolley hoisting a swinging object
, Article Transactions of the Canadian Society for Mechanical Engineering ; Volume 34, Issue 3-4 , 2010 , Pages 333-350 ; 03158977 (ISSN) ; Ghafoori, E ; Sadeghpour, M ; Sharif University of Technology
2010
Abstract
Nonlinear vibration of a three-dimensional moving gantry crane carrying a trolley hoisting a swinging object is studied in this paper.A finite element method is used to solve nonlinear coupled governing equations of the structure. A combinational technique (Newmark-Runge-Kutta) is employed for direct integration procedure. To develop a comprehensive parametric study and sensitivity analysis of the coupled nonlinear system, sequence of numerical simulations are carried out. Parametric study is directed to find out how different parameters like speed and acceleration of the trolley and gantry crane as well as the mass of the moving trolley and swinging object may affect the linear and...
Anti-sway control of a gantry crane with flexible rope
, Article 3rd International Conference on Advances in Vehicle Control and Safety 2007, AVCS 2007 and 3rd International Conference on Integrated Modeling and Analysis in Applied Control and Automation ; 2007 , Pages 23-28 ; ISSN: 23052139 ; Alasti, A ; Sharif University of Technology
Abstract
In this paper, a new approach for controlling the sway angle of the load in trolley cranes is presented which is based on the flexibility of the cable and variation of its length by the time. The crane dynamics has been described by hybrid PDE and ODE equations which uses the PDE as the equations of motion for the flexible cable and ODE for those of the trolley and the load. The purpose of the controller is to transport the load to the desired position and to eliminate its sway angle at the destination. The control law is based on the Lyapunov's second method. The efficiency of the proposed controller is demonstrated via various simulations
Exponential stabilization of flexural sway vibration of gantry crane via boundary control method
, Article JVC/Journal of Vibration and Control ; Volume 26, Issue 1-2 , 2020 , Pages 36-55 ; Najafi Ardekany, A ; Alasty, A ; Sharif University of Technology
SAGE Publications Inc
2020
Abstract
This paper aims to develop a boundary control solution for complicated gantry crane coupled motions. In addition to the large angle sway motion, the crane cable has a flexural transverse vibration. The Hamilton principle has been utilized to derive the governing partial differential equations of motion. The control objectives which are sought include: moving the payload to the desired position; reducing the payload swing with large sway angle; and finally suppressing the cable transverse vibrations in the presence of boundary disturbances simultaneously. These simultaneous boundary control objectives make the problem challenging. The proposed control approach is based on the original...
Dynamic analysis of gantry cranes subjected to a moving trolley hoisting a swinging object
, Article 7th European Conference on Structural Dynamics, EURODYN 2008, 7 July 2008 through 9 July 2008 ; 2008 ; 9780854328826 (ISBN) ; Younesian, D ; Sharif University of Technology
University of Southampton, Institute of Sound Vibration and Research
2008
Abstract
Vibration analysis of a gantry crane subjected to a moving trolley hoisting a swinging object is studied in this paper. The finite element method is used to model the dynamical system. Newmark's and Runge-Kutta techniques are used for direct integration of the equation of motion of the structure and the moving object respectively. The moving suspended load is modeled with a non-linear equation of motion including two degrees of freedom i.e. hoisting in conjunction with swinging. A series of numerical simulations are carried out to provide a comprehensive parametric study. The study is directed to identify dynamic characteristics of the coupled non-linear system as well as to provide...