Stability Analysis and Control of Overhead Crane With Time-Dependent Flexible Cable
Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
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A mathematical model of an overhead crane system with load hoisting and a flexible cable is presented. The model consists of a hyperbolic partial differential equation describing the dynamics of the moving flexible cable and ordinary differential equations describing the trolley and payload dynamics. Lyapunov direct method is used to design a model-based boundary control law that achieves trolley and payload desired positions and ensures vibration reduction of the flexible cable. The proposed control law is based on measurable variables for the trolley and the cable. The stability of the closed loop system under this boundary control scheme is proved through the use of inequality and metric analysis
Cables; Control systems; Control theory; Cranes; Differential equations; Force control; Live loads; Mathematical models; Mechanical cables; Mechanical engineering; Partial differential equations; Payloads; Power cables; Stability; Stability analysis
Acoustics, Dynamics, and Controls | Control Theory | Electro-Mechanical Systems | Mechanical Engineering
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DOI: http://dx.doi.org/10.1109/AIM.2005.1511223; Print ISBN: 0-7803-9047-4
Moustafa, K. A.,
Ismail, M. I.
Stability Analysis and Control of Overhead Crane With Time-Dependent Flexible Cable.
Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, 24