Payload motion control for a varying length flexible gantry crane

Automatika

Tung Lam Nguyen¹  Minh Duc Duong¹  Hong Quang Nguyen² 

[1] Hanoi University of Science and Technology, Hanoi, Vietna;Thai Nguyen University of Technology, Thai Nguyen, Vietna;

关键词: Lyapunov stability;    flexible system;    vibration control;    boundary control;    gantry crane;   

DOI  :  10.1080/00051144.2021.1991176

来源: Taylor & Francis

【 摘 要 】

lay a very important role in transporting heavy loads in various industries. However, because of its natural swinging characteristics, the control of crane needs to be considered carefully. This paper presents a control approach to a flexible cable crane system in consideration of both rope length varying and system constraints. At first, from Hamilton's extended principle the equations of motion that characterized coupled transverse-transverse motions with varying rope length of the gantry are obtained. The equations of motion consist of a system of partial differential equations. Then, a barrier Lyapunov function is used to derive the control located at the trolley end that can precisely position the gantry payload and minimize vibrations. The designed control is verified through extensive experimental studies.

【 授权许可】

CC BY