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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 4, issue 2
Mech. Sci., 4, 251–261, 2013
https://doi.org/10.5194/ms-4-251-2013
© Author(s) 2013. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Recent advances and current trends in numerical multibody...

Mech. Sci., 4, 251–261, 2013
https://doi.org/10.5194/ms-4-251-2013
© Author(s) 2013. This work is distributed under
the Creative Commons Attribution 3.0 License.

Research article 01 Jul 2013

Research article | 01 Jul 2013

Gantry crane control of a double-pendulum, distributed-mass load, using mechanical wave concepts

W. O'Connor and H. Habibi W. O'Connor and H. Habibi
  • UCD School of Mechanical and Materials Engineering, UCD Belfield, Dublin 4, Ireland

Abstract. The overhead trolley of a gantry crane can be moved in two directions in the plane. The trolley is attempting to control the motion of a suspended, rigid-body, distributed mass load, supported by a hook, modelled as a lumped mass, in turn connected to the trolley by a light flexible cable. This flexible system has six degrees of freedom, four variables describing the flexible, hanging load dynamics and two (directly controlled) input variables for the trolley position. The equations of motion are developed and the crane model is verified. Then a form of wave-based control (WBC) is applied to determine what trolley motion should be used to achieve a reference motion of the load, with minimum swing during complex manoeuvres. Despite the trolley's limited control authority over the complex, flexible 3-D dynamics, WBC enables the trolley to achieve very good motion control of the load, in a simple, robust and rapid way, using little sensor information, with all measurements taken at or close to the trolley.

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