Dynamics and swing control of double-pendulum bridge cranes with distributed-mass beams

被引：74

作者：

Huang, Jie ^{[1
]}

Liang, Zan ^{[2
]}

Zang, Qiang ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Mech Engn, Beijing 100081, Peoples R China

[2] Beijing Res Inst Precise Mech & Elect Control Equ, Beijing 100076, Peoples R China

来源：

MECHANICAL SYSTEMS AND SIGNAL PROCESSING | 2015年 / 54-55卷

关键词：

Double-pendulum; Distributed-mass beam; Vibration control; Command smoothing; Bridge crane; FLEXIBLE MANIPULATOR DRIVEN; SWAY REDUCTION; FUZZY CONTROL; FEEDBACK; PERFORMANCE;

D O I：

10.1016/j.ymssp.2014.09.005

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Motion-induced oscillations of crane payloads seriously degrade their effectiveness and safety. Significant progress has been achieved with reducing payload oscillations on a single-pendulum crane with a point-mass payload attached to the end of the cable. However, large payloads and the actual configuration of the hoisting mechanism may transform the crane to a double-pendulum system with a distributed-mass payload. The manipulation task can be more challenging because of the complicated dynamics. The dynamics of bridge cranes transporting distributed-mass beams are derived. A command-smoothing scheme is presented to suppress the complex payload oscillations. Simulations of a large range of motions are used to analyze the dynamic behavior of the cranes and the robustness of the method. Experimental results obtained from a small-scale double-pendulum bridge crane transporting a distributed-mass beam validate the simulated dynamic behavior and the effectiveness of the method. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：357 / 366

页数：10

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