Dynamic analysis and tracking trajectory control of a crane
This paper introduces a method to solve the crane motion trajectory control problem. A dynamic model is proposed based on the Udwadia–Kalaba equation, which can be solved without extra parameters, such as the Lagrange multiplier. The motion trajectory of a crane is used as a constraint (referred to...
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Veröffentlicht in: | Proceedings of the Institution of Mechanical Engineers. Part E, Journal of process mechanical engineering Journal of process mechanical engineering, 2017-10, Vol.231 (5), p.1045-1052 |
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Hauptverfasser: | , , , , |
Format: | Artikel |
Sprache: | eng |
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Online-Zugang: | Volltext |
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Zusammenfassung: | This paper introduces a method to solve the crane motion trajectory control problem. A dynamic model is proposed based on the Udwadia–Kalaba equation, which can be solved without extra parameters, such as the Lagrange multiplier. The motion trajectory of a crane is used as a constraint (referred to as trajectory tracking constraint). To satisfy the system trajectory, a method to calculate the driving conditions on the basis of the above conditions is proposed. A 2D plane dynamic model of a crane is established. Five stages of crane movement are obtained. Simulation is performed with Matlab. Simulation results simulation show that the Udwadia–Kalaba equation can be well applied to trajectory tracking control of cranes. |
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ISSN: | 0954-4089 2041-3009 |
DOI: | 10.1177/0954408916671971 |