pendulum mechanism for overhead crane

  • This paper presents a new control scheme based on model reference command shaping (MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach has an advantage in achieving an accurate trolley positioning, with low hook and payload oscillations, under various desired trolley positions and parameter uncertainties, without the requirement for measurement or estimation of …

  • Enhanced-coupling adaptive control for double-pendulum …

    This paper presents a new control scheme based on model reference command shaping (MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach has an advantage in achieving an accurate trolley positioning, with low hook and payload oscillations, under various desired trolley positions and parameter uncertainties, without the requirement for measurement or estimation of …

  • the present study, first, the main three motions of an overhead crane including trolley’s longitudinal motion, cable’s pendulum motion with large swing angle and cable vibration is considered in order to derive a more accurate dynamic model.

  • The open-loop control of an overhead crane modelled as a double pendulum is achieved by the input-output inversion technique [30] and the novel online motion planning method [31].

  • The mathematical model of a double-pendulum overhead crane system is obtained through the Euler-Lagrange methods. The dynamic model is then verified through simulations and experiments.

  • Therefore, we propose a hybrid control mechanism that combine electronic and mechanical gyroscopes to produce a balancing torque, keeping crane load stable. We assume the crane load as in the case

  • pendulum mechanism for overhead crane
  • GA-Based Composite Sliding Mode Fuzzy Control for …

    The overhead crane exhibits double-pendulum dynamics because of the large-mass hook and the payload volume. Its nonlinear dynamic model is built using Lagrangian method.

  • The mathematical model of a double-pendulum overhead crane system is obtained through the Euler-Lagrange methods. The dynamic model is then verified through simulations and experiments.

  • 2020/11/1 · Vaughan et al. designed an input-shaping controller that is robust to frequency error to limit the residual oscillation of the swing angles of the double-pendulum overhead crane. Simulations and experiments were carried out to prove that the controller is …

  • mechanism. During the transportation process, the load behaves like a pendulum and freely sway. If the sway reaches a critical limit, it must be absorbed or the process must be stopped until the sway is disappear. The goal of control of a crane system is

  • The mathematical model of a double-pendulum overhead crane system is obtained through the Euler-Lagrange methods. The dynamic model is then verified through simulations and experiments.

  • Frontiers | Anti-Sway and Positioning Adaptive Control of …

    2 天前 · The overhead crane with the double-pendulum effect is chosen as the research object in this paper. A dynamic model of the crane has been established first. Then, an RBF-based neural network compensation adaptive controller is proposed, and simulations with MATLAB are also performed to verify the stability of the system.

  • The open-loop control of an overhead crane modelled as a double pendulum is achieved by the input-output inversion technique [30] and the novel online motion planning method [31].

  • the overhead crane dynamics, we show that, when the pendulum damping ratio is negligible (as it is often the case in practical applications, and as normally assumed in the literature), the time constant of the exponential function that generates the postaction is

  • the system is derived using Lagrange principle. Figure 1 shows an overhead crane moves in two-dimensional space. The crane consists of a cart (trolley) transverses in horizontal direction, while a massless pendulum connects on the cart and hoists the payload.

  • An iterative learning control (ILC) strategy is proposed, and implemented on simple pendulum and double pendulum models of an overhead crane undergoing simultaneous traveling and hoisting maneuvers. The approach is based on generating shaped commands using the full nonlinear equations of motion combined with the iterative learning control, to use as acceleration commands to the jib of the crane.

  • Nonlinear coupling control laws for an underactuated overhead crane …

    pendulum-like swinging motion. Motivated by the desire to achieve fast and precise payload positioning while mitigating performance and safety concerns associated with the swinging motion, several researchers have developed various controllers for overhead

  • Therefore, the overhead crane system can be simplified to a cart-pendulum model with a variable pendulum length, as shown in Fig 2. U1 is the force exerted by the horizontal actuator and U2 is the applied torque from a rotational actuator acting on a winch with a radius R.

  • This paper presents investigations into the development of composite control schemes for trajectory tracking and anti‐sway control of a double‐pendulum‐type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is …

  • Fig. 2 Cart-Pendulum Model Therefore, the overhead crane system can be simplified to a cart-pendulum model with a variable pendulum length, as shown in Fig. U1 is the force exerted by the horizontal actuator and U2 is the applied torque from a

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