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Anti-sway control of a gantry crane with flexible rope

Radparvar, Y ; Sharif University of Technology

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  1. Type of Document: Article
  2. Abstract:
  3. 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
  4. Keywords:
  5. Trolley cranes ; Anti-sway control ; New approaches ; Flexible cable ; Desired position ; Crane dynamics ; Control laws ; Cables ; Rope Anti-sway ; Ordinary differential equations ; Gantry cranes ; Equations of motion ; Control system synthesis ; Control
  6. Source: 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