Swing-free stop control of the slewing motion of a mobile crane

被引：34
作者：
Klosinski, J [1 ]
机构：
[1] Univ Bielsko Biala, Dept Mech Engn & Comp Sci, PL-43309 Bielsko Biala, Poland
来源：
CONTROL ENGINEERING PRACTICE | 2005年 / 13卷 / 04期
关键词：
mobile crane control; mathematical model; swing-free stop;
D O I：
10.1016/j.conengprac.2004.04.007
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A method of controlling the slewing motion of mobile cranes is presented in the paper. The method allows for transportation of the payload to a selected point and ensures minimisation of its swings when the motion is finished. To achieve this goal a mathematical model of the control system of the displacement of the payload has been constructed, comprising the mathematical model of a crane, the model of its hydraulically controlled drive system and controller. A theory of control which ensures swing-free stop of the payload is presented. Selected results of numerical simulations are shown. Experimental verification of numerical calculations has been performed on the specially built physical model of a crane. Experimental results in comparison to calculations are presented. Suggestions for using this method for control of real cranes are presented. (C) 2004 Elsevier Ltd. All rights reserved.
引用
收藏
页码：451 / 460
页数：10
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