Boundary Control of Container Cranes as an Axially Moving String System
نویسنده
چکیده
The control objectives in this paper are to move the gantry of a container crane to its target position and to suppress the transverse vibration of the payload. The crane system is modeled as an axially moving string equation, in which control inputs are applied at both ends, through the gantry and the payload. The dynamics of the moving string are derived using Hamilton’s principle for systems with changing mass. The Lyapunov function method is used in deriving a boundary control law, in which the Lyapunov function candidate is introduced from the total mechanical energy of the system. The performance of the proposed control law is compared with other two control algorithms available in the literature. Experimental results are given. Copyright © 2005 IFAC
منابع مشابه
Asymptotic Approximations of the Solution for a Traveling String under Boundary Damping
Transversal vibrations of an axially moving string under boundary damping are investigated. Mathematically, it represents a homogenous linear partial differential equation subject to nonhomogeneous boundary conditions. The string is moving with a relatively (low) constant speed, which is considered to be positive. The string is kept fixed at the first end, while the other end is tied with the ...
متن کاملNonlinear vibration analysis of axially moving strings in thermal environment
In this study, nonlinear vibration of axially moving strings in thermal environment is investigated. The vibration haracteristics of the system such as natural frequencies, time domain response and stability states are studied at different temperatures. The velocity of the axial movement is assumed to be constant with minor harmonic variations. It is presumed that the system and the environment...
متن کاملNonlinear Dynamics of the Rotational Slender Axially Moving String with Simply Supported Conditions
In this research, dynamic analysis of the rotational slender axially moving string is investigated. String assumed as Euler Bernoulli beam. The axial motion of the string, gyroscopic force and mass eccentricity were considered in the study. Equations of motion are derived using Hamilton’s principle, resulting in two partial differential equations for the transverse motions. The equations are ch...
متن کاملVibration Control of an Axially Moving String by Boundary Control*
The stabilization of the transverse vibration of an axially moving string is implemented using time-varying control of either the boundary transverse motion or the external boundary forces. The total mechanical energy of the translating string is a Lyapunov functional and boundary control laws are designed to dissipate the total vibration energy of the string at the left and/or right boundary. ...
متن کاملBoundary Control of Axially Moving Continua: Application to a Zinc Galvanizing Line
In this paper, an active vibration control of a tensioned, elastic, axially moving string is investigated. The dynamics of the translating string are described with a non-linear partial differential equation coupled with an ordinary differential equation. A right boundary control to suppress the transverse vibrations of the translating continuum is proposed. The control law is derived via the L...
متن کامل